Fig. 7

Mathematical simulation and experimental analysis of crawling behaviour in low friction conditions. A, B Simulation results of kymograph in the optimized condition (A) and the absence of friction (B). C, D Simulation results of segmental length in the optimized condition (C) and the absence of friction (D). E–H Comparison of four kinematic parameters in simulations between the optimized condition (control) and the absence of friction (no friction). E Maximum segment length. F Minimum segment length. G Contraction duration. H Intersegmental delay. I, J Plots of segment length measured by the experiments of larvae on agarose (I) and those floating in liquid (J). K–N Comparison of four kinematic parameters obtained by the experiments of larvae on agarose (on agarose) and larvae in a low friction condition (floating). The p-values show the result of Student’s t-test. K Maximum segment length. L Minimum segment length. M Contraction duration. N Intersegmental delay