Fig. 9

Sidewinding locomotion of WORMESH robot in simulation. a Robot movement in simulation for travelling wave parameters are \(A_{v}=\pi /40,A_{h1} = A_{h2}=\pi /60,\beta =1.5\pi ,\omega =0.5\pi \). b Pose of kinematic chain \(\hbox {M}_{21}-\hbox {M}_{{23}}\) on XY plane, travelling wave parameters are \(A_{v}=\pi /40,A_{h}=\pi /60,\beta =1.5\pi ,\omega =0.5\pi \). c Pose of kinematic chain \(\hbox {M}_{21}-\hbox {M}_{{23}}\) on ZX plane, travelling wave parameters are \(A_{v}=\pi /40,A_{h}=\pi /60,\beta =1.5\pi ,\omega =0.5\pi \). d Robot movement in simulation for travelling wave parameters are \(A_{v}=\pi /40,A_{h1} =\pi /60, A_{h2} =\pi /64,\beta =1.5\pi ,\omega =0.5\pi \). e Robot movement in simulation for travelling wave parameters are \(A_{v}=\pi /40,A_{h1} = A_{h2} =\pi /60,\beta =\pi ,\omega =0.5\pi \). f Effect of the travelling wave parameters on travelling direction