Antennae and antennules are for feeling, smelling, tasting, listening, signaling, and sensing the passage of time. Mandibles are for tasting, biting, cutting, chewing. Maxillipeds are arms for feeding. Pereiopods are legs for walking. Pleopods are legs for swimming and brooding eggs and catching food. Gonopods are for transferring sperm. Uropods, on tail fans, are for steering and for a quick escape.