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The controllability of a fully three-dimensional N -link swimmer is studied. After deriving the equations of motion in a low Reynolds number fluid by means of Resistive Force Theory, the controllability of the minimal 2-link swimmer is tackled using techniques from Geometric Control Theory. The shape of the 2-link swimmer is described by two angle parameters. It is shown that the associated vector fields that govern the dynamics generate, via taking their Lie brackets, all eight linearly independent directions in the combined configurati
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