Limbless locomotors, from microscopic worms to macroscopic snakes, traverse complex,
heterogeneous natural environments typically using undulatory body wave propagation. …

Locomotion is typically studied either in continuous media where bodies and legs experience
forces generated by the flowing medium or on solid substrates dominated by friction. In the …

While terrestrial locomotors often contend with permanently deformable substrates like sand,
soil, and mud, principles of motion on such materials are lacking. We study the desert-…

Locomotion at the microscale is remarkably sophisticated. Microorganisms have evolved
diverse strategies to move within highly viscous environments, using deformable, propulsion-…

Centipedes coordinate body and limb flexion to generate propulsion. On flat, solid surfaces,
the limb-stepping patterns can be characterized according to the direction in which limb-…

Animals like snakes use traveling waves of body bends to move in multi-component terrestrial
terrain. Previously we studied [Schiebel et al., PNAS, 2019] a desert specialist, Chionactis …

Study of the locomotion of a centipede (L. forficatus) at the air-water interface reveals that it
does not predominantly use its 14 leg pairs to locomote; unlike most swimmers which …

Snake robots have the potential to locomote through tightly packed spaces, but turning
effectively within unmodelled and unsensed environments remains challenging. Inspired by a …

Legged systems offer benefits over their wheeled counterparts in their ability to negotiate
rugose and heterogeneous environments. However, in rough terrain, these systems are …

Centipedes coordinate body and limb flexion to generate propulsion. On flat solid surfaces,
the limb-stepping patterns can be characterized according to the direction in which …