Figure S7.  Joule heating calculation. Assume pure resistance circuit, Ohm’s law applies and no resistance change. I=U/R, H=I2Rt. I is current; U is voltage; R is resistance; t is time; H is the heat produced. If we assume heat capacity does not change and the heat is use for temperature increase, ΔT=Q/mc, Q=H. ΔT is temperature change; m is mass, c is specific heat capacity.
 
 
Figure S8. Swimming calculation. Slow swimming speed is calculated based on Video S3 4.42 sec to 6.04 sec. Snapping mode swimming speed is calculated based on Video S4 5.83 sec to 7.03 sec. 180 degree turning calculation is based on Video S5 6.36 sec to 16.34 sec.