In 2010, Lai et al. published an article (bit.ly/sluggymoves) on the locomotion of terrestrial gastropods – snails and slugs (as opposed to marine gastropods like sea slugs). Slugs crawl steadily on their belly or ventral foot. How this takes place is a subject of some controversy. It seems to be driven by a train of periodic muscle contractions (pedal waves) and relaxations (interwaves) from their tails to their heads. These waves interact with a thin layer of mucus that somehow produces a net forward propulsive force. The controversial question is how exactly the mucus layer interacts with the propulsive forces in terms of fluid dynamics. In response to your question, I think undulate would be the most correct.