Table 1.

Experimental data about earthworms, as reported in [2,21].

parameter	symbol	value for mb = 5 g	scaling
body mass	mb	5 g	mb
body length	Lbody	176 mm
internal pressure at rest	Prest	110 Pa
longitudinal contraction pressure	Plong	340 Pa
circular contraction pressure	Pcirc	600 Pa
body radius	rbody	4.5 mm
typical strain	ɛtyp	0.6
cuticle thickness	tc	50 µm
wall Young's modulus	E	10 kPa
stride length	Ls	28 mm
stepping time	Ts	2.5 s
crawling speed	υtyp	7 mm s−1
contraction wave velocity	v	40 mm s−1