  We present experimental and numerical results for a model crawler which is
able to extract net positional changes from reciprocal shape changes, i.e.
'breathing-like' deformations, thanks to directional, frictional interactions
with a textured solid substrate, mediated by flexible inclined feet. We also
present a simple reduced model that captures the essential features of the
kinematics and energetics of the gait, and compare its predictions with the
results from experiments and from numerical simulations.
