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Comparison between real snake and simulation results. In (a), 12 curved sections are found in both experiments and simulations, geometrical parameters in simulations are L0/r = 200, d/r = 7 and L0/d = 28.6. In (b), 10 curved sections are found in the experiments, which corresponds to the simulation case of 11 curved sections. Geometrical parameters in simulations are L0/r = 200, d/r = 10 and L0/d = 20. (Online version in colour.)
