Soft Robots

Hello Guys
ı want to do soft robotics simulation in grasshopper? ı have already like this script but its just given stabil simulation. I want this module to crawl on the ground. how can I make this simulation move on the ground. I mean, how can I make it crawl on the ground like a worm, if anyone has an idea, can you please contribute?

my goal is to make a motion simulation like this

also code is here
softrobot.gh (44.1 KB)

Old Kangaroo?

missing