Figure 2. System that assists body propulsion for locomotion.

(A–E). Diagram showing how the soft-embedded sloped stiff array of protuberances can generate propulsion due to the opposite movements along a non-smooth substrate. (F, G). Lateral scales of the snake Python regius at different magnifications in the scanning electron microscope (SEM). d, direction toward the tail (caudal); DT, denticulations; SC, scales.