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.
After revision:  The nematode C. elegans is an ideal URLanism for studying locomotion in an integrated neuromechanical setting because its neural circuit has a well-characterized modular structure and its undulatory forward swimming gait adapts to the surrounding fluid using sensory feedback.