C. elegans robots
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Parts
WormHost
WormRPi
WormSim
docs
README.md

README.md

robots

C. elegans robots.

The goal of this project is twofold:

  1. To build a robot that simulates the neuromuscular function of a C. elegans nematode worm.
  2. To specify a kit of parts and instructions that will allow a student to also build the robot.

The robot is controlled by a Raspberry Pi processor communicating with a PC containing a simulation of the worm's neuromuscular system (see references). The robot's body is a sequence of segments that mutually exert simulated muscle contractions impemented by servos.

Additional documentation for building the robot yourself

Folders:

  1. WormHost: PC code to communicate with the onboard Raspberry Pi.
  2. WormRPi: Raspberry Pi onboard code.
  3. WormSim: C. elegans neuromuscular simulator.
  4. 3D Printing Shapefiles: Images and .stl files for printing the other components

References: Boyle, Berri and Cohen, �Gait modulation in C. elegans: an integrated neuromechanical model�, Front. Comput. Neurosci., 2012. Eduardo J. Izquierdo and Randall D. Beer, "An Integrated Neuromechanical Model of Steering in C. elegans", ECAL15