The motion of a soft and contractile body on a hard support is described by fields of short range contact forces. Besides repulsion these forces are able to describe also viscous friction, damping and adhesion allowing the body to have complex motions which look rather realistic. The contractility is used to make the body behave like a living body with some basic locomotion capabilities. The simulated motions, showing jumping or crawling, are driven either by a contraction or by a contractile couple. Although only homogeneous deformations are allowed, the model arises from a general theory of remodeling in finite elasticity. The body is made of a viscoelastic incompressible neo-Hookean material.
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