2D Snail-like movement

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:

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?

You can create an empty gameobject in which you put three sprites as children : two nodes and one muscle. Animate them by changing the node’s position and the muscle’s scale.