Figure 4.

Locomotive behavior of model worms. Example from one model worm from the ensemble of solutions. (A) Kymograph depicting dorsoventral bending across the body (y-axis) and over time (x-axis). The intensity of red and blue depict dorsal and ventral curvature, respectively (see Supplementary Material 1 for the method used to calculate curvature). (B) Instantaneous velocity of the body center of mass (black trace) in relation to average velocity used for the fitness function (red line). (C) Neural activity for dorsal neurons in the first neuromuscular segment. AS in black, DA in red, DB in blue and DD in green. (D) Neural activity for ventral neurons in the first neuromuscular segment, VA in red, VB in blue and VD in green. (E) Worm body posture at different points in time (in seconds).