{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,13]],"date-time":"2025-10-13T08:59:28Z","timestamp":1760345968533,"version":"3.38.0"},"reference-count":20,"publisher":"SAGE Publications","issue":"3-4","license":[{"start":{"date-parts":[[1998,1,1]],"date-time":"1998-01-01T00:00:00Z","timestamp":883612800000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Adaptive Behavior"],"published-print":{"date-parts":[[1998,1]]},"abstract":"<jats:p> We report on the design and implementation of an autonomous robot that performs phototaxis under the control of a simulated neural network. The mechanical configuration of the robot and its neural network controller are patterned after those believed to produce chemotaxis in the nematode Caenorhabditis elegans. The network is first optimized to produce phototaxis in a simulated, nematode-like robot and then is tested on a real robot. We find that both the simulated and real robot perform reliably, making nearly identical trajectories for similar environments and similar starting conditions. Furthermore, their performance is robust to significant perturbations of the robot's locomotion parameters. Finally, we discuss the implicit computational rule that this network uses to control phototaxis. This makes the results intuitive and improves our intuition about control of tactic behavior in two dimensions. <\/jats:p>","DOI":"10.1177\/105971239800600303","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T06:45:25Z","timestamp":1173595525000},"page":"393-410","source":"Crossref","is-referenced-by-count":35,"title":["Robust Spatial Navigation in a Robot Inspired by Chemotaxis in Caenorhabditis elegans"],"prefix":"10.1177","volume":"6","author":[{"given":"Thomas M.","family":"Morse","sequence":"first","affiliation":[{"name":"Institute of Neuroscience University of Oregon"}]},{"given":"Shawn R.","family":"Lockery","sequence":"additional","affiliation":[{"name":"Institute of Neuroscience University of Oregon"}]},{"given":"Thomas C.","family":"Ferr\u00e9e","sequence":"additional","affiliation":[{"name":"Institute of Neuroscience University of Oregon"}]}],"member":"179","published-online":{"date-parts":[[1998,1,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1146\/annurev.ne.16.030193.000403"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1016\/0092-8674(93)80053-H"},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1016\/0896-6273(91)90276-6"},{"volume-title":"Searching behavior: The behavioural ecology of finding resources","year":"1991","author":"Bell, W.J.","key":"atypb4"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1038\/239500a0"},{"key":"atypb6","doi-asserted-by":"publisher","DOI":"10.1016\/S0896-6273(00)80201-9"},{"key":"atypb7","doi-asserted-by":"crossref","first-page":"243","DOI":"10.1093\/genetics\/90.2.243","volume":"90","author":"Culotti, J.G.","year":"1978","journal-title":"Genetics"},{"key":"atypb8","doi-asserted-by":"publisher","DOI":"10.1523\/JNEUROSCI.09-02-00415.1989"},{"key":"atypb9","first-page":"55","volume":"9","author":"Ferr\u00e9e, T.C.","year":"1997","journal-title":"Advances in Neural Information Processing Systems"},{"volume-title":"Computational rulesforchemotaxis in the nematode C. elegans","year":"1998","author":"Ferr\u00e9e, T.C.","key":"atypb10"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1016\/S0896-6273(00)81014-4"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1126\/science.232.4752.861"},{"volume-title":"Biologically inspired robots: Snake-like locomotors and manipulators","year":"1993","author":"Hirose, S.","key":"atypb13"},{"volume-title":"Advanced algorithms for neural networks: A C++ sourcebook","year":"1995","author":"Masters, T.","key":"atypb14"},{"volume-title":"Spikes: Exploring the neural code","year":"1997","author":"Rieke, F.","key":"atypb15"},{"key":"atypb16","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.69.9.2446"},{"key":"atypb17","doi-asserted-by":"publisher","DOI":"10.1515\/9781400856848"},{"key":"atypb18","doi-asserted-by":"publisher","DOI":"10.1073\/pnas.70.3.817"},{"key":"atypb19","doi-asserted-by":"publisher","DOI":"10.1098\/rstb.1986.0056"},{"volume-title":"Construction and operation of a snake-like robot. 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