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2D Snail-like movement

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Hello, I want to create a snail-like moving creature in 2D which is just made of muscles and nodes. The muscles can expand and contract and the nodes hold the muscles together. This is how I want my creature to move: ![alt text][1] [1]: /storage/temp/69724-snailmovement.png I tried doing this with changing the friction of the nodes on the surface and by changing the scale of the muscles but that didn't work. How do I do this?

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