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(a) The shaded area represents the region in the τf – (vI/τθ) plane where coordination is achieved for F = 1.2 (see in equation (3.4)). (b–e) Estimates of (b) (normalized) travelling wave velocity v, (c) pulse width ξs, (d) stride length Ls and (e) body centre of mass velocity v for ɛ = 0.6 (typical value for earthworms, as reported in appendix A) and as functions of friction F and muscular relaxation time τf. (Online version in colour.)
