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PDF 2.48 MB
Pages 199–206
First published 20 July 2015

An Integrated Neuromechanical Model of Steering in C. elegans

Eduardo J. Izquierdo and Randall D. Beer


In this paper, we extend our previous model circuit for steering in C. elegans to control a more realistic biomechanical model of forward locomotion. We show that the identified steering circuit is sufficient to steer the full body during for-ward locomotion while only innervating a few of the anterior most neck muscles. Analysis of the sensorimotor transformation and phasic stimulation experiments provides evidence that the principles of operation for steering discussed in the model are relevant for steering in the worm. Finally, the integration of the steering circuit in a physical model of the full body allows us to compare more closely the properties of the evolved solutions with those of the worm.