A robot model of chemotaxis of a nematode worm. Schematic representations of a, the nematode, and b, the robot, showing how sensory and motor systems correspond. Signal intensity is detected at a point x, y; the direction of movement theta is controlled by head angle and the speed v vector by body thrust.
Reprinted from Barbara Webb (2002). "Robots in invertebrate neuroscience." Nature 417:359-363.