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The kinematics of an undulating worm. (A) Diagram of a worm moving in a viscous fluid. Body coordinate s describes path length along worm body, starting from the head. Posture y(s,t) describes lateral displacement of worm body centerline. θa describes angle of each body component with respect to direction of movement. (B) Worm body is modeled as a rod with elasticity (represented by spring), internal damping (represented by dashpot), and active muscular torque M(s,t).
