  Both legged locomotion and slithering motions typically utilize periodic
gaits -- repeating cycles of body shape change that produce a net motion
through the world. Legged locomotion can be viewed from the perspective of
piece-wise contact constraint formation and removal. Slithering and low
Reynolds number swimming operate under continuous constraints of force balance,
wherein dissipation removes the ability to accumulate momentum. Here we discuss
how to bridge the gap between these domains of motion, thereby, among other
benefits, producing models for the space of legged locomotion with slipping.
The connective fabric is the use of a "Stokesian", or "local connection" model.
