C:/Documents and Settings/Eric/My Documents/My Papers/CElegans-Paper/Version_7/celegans_supmat.dvi

Recall that our mechanical worm (MW) model used in the simulation portion of our study is constructed from a chain of spherical beads of radius a. Each bead, indexed by n, is centered at Yn, and has an orientation vector t̂n. The vector t̂n is also used as the unit tangent to the worm’s centerline. Each bead is also subject to several forces and torques which sum to zero at each moment in the dynamics,