Before revision:  The nematode C. elegans is an ideal URLanism for studying locomotion in an integrated neuromechanical setting because its nervous system is well characterized and its forward swimming gait adapts to the surrounding fluid using sensory feedback. However, it is not understood how the gait emerges from mechanical forces, neuronal coupling, and sensory feedback mechanisms.
After revision:  The nematode C. elegans is an ideal URLanism for studying locomotion in an integrated neuromechanical setting because its nervous system is well characterized and its forward swimming gait adapts to the surrounding fluid with a shorter wavelength in higher viscosity environments. This adaptive behavior emerges from the neural modules interacting through a combination of mechanical forces, neuronal coupling, and sensory feedback mechanisms.