Table 1.

Parameters and variables of the robot.

variables	explanation
physical variables of segment i
xi	position of mass i	equation (2.1)
$L_{i+1/2}$	resting length of the RTS between mass i and mass i + 1	equation (2.2)
$F_i^{\mathrm{A}}$	force from a RTS between mass i and mass i + 1	equation (2.3)
si	ground reaction force stemming from shear stress on the segment	equation (2.5)
αi	coefficient that defines gripping capability on mass i	figure 3
parameters and variables of the control system (oscillators)
${\theta }_{i+1/2}$	phase of oscillator $i+1/2$	equation (2.6)
$I_{i+1/2}$	discrepancy function on RTS $i+1/2$	equation (2.7)
parameters
m	mass of mass i	0.3 g
k	stiffness the RTSs	100.0 g cm s−2
c	linear damping coefficient of the RTSs	1.0
$\overline{L}$	maximum length of the resting length variation of RTSs	0.5 cm
A	coefficient that specifies amplitude of the resting length variation of RTSs	0.3
αi	coefficient that defines gripping capability on mass i	figure 3
ω	intrinsic frequency of oscillator $i+1/2$	3.14
$\epsilon$	diffusion coefficient between neighbouring oscillators	0.2
σ	strength of the local sensory feedback	0.2