Elephants communicate through infrasound. These are relatively low frequency noises and it is believed as humans we only hear about 10% of their conversations. Occasionally you hear elephants bellowing or rumbling. The low frequency infrasound carries over many miles so allows them to locate others in the wild. They also communicate a lot through touch – they will use their trunks to touch other elephants, and other physical actions such as ear flapping, staring, etc.
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