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An organism's ability to move freely is a fundamental behaviour in the animalkingdom. To understand animal locomotion requires a characterisation of thematerial properties, as well as the biomechanics and physiology. We present abiomechanical model of C. elegans locomotion together with a novel finiteelement method. We formulate our model as a nonlinear initial-boundary valueproblem which allows the study of the dynamics of arbitrary body shapes,undulation gaits and the link between the animal's material properties and itsperformance across a range of environments. Our model replicates behavioursacross a wide range of environments. It makes strong predictions on the viablerange of the worm's Young's modulus and suggests that animals can control speedvia the known mechanism of gait modulation that is observed across differentmedia.

A new computational method for a model of C. elegans biomechanics: Insights into elasticity and locomotion performance