Forward locomotion in model worm from From head to tail: a neuromechanical model of forward locomotion in Caenorhabditis elegans

The behavior of the models match not only the speed of the worm, but also the overall qualitative kinematics of forward movement. When placed on agar, the models in the ensemble initiate dorsoventral oscillations in the head and propagate them posteriorly, generating thrust against their environment, propelling themselves forward. The models can do this robustly, regardless of the initial state and posture of the worn, including from a straight posture as shown in this animation.