A Distributed Connectome-Based Neural Controller for Biomimetic Robotic Locomotion Using a C. elegans Neural Processing Service
A Distributed Connectome-Based Neural Controller for Biomimetic Robotic Locomotion Using a C. elegans Neural Processing Service Abstract This paper presents a distributed biomimetic robotic architecture composed of a Python-based robotic controller (Celegansv2.py) and an ASP.NET Core neural processing service (Program.cs). The robot collects sensory information, transmits weighted sensory neuron activations through a REST interface, and receives computed muscle activations after propagation through a digital C. elegans connectome. The remote neural processor maintains independent nervous systems for each robot session, accumulates neural activity, applies threshold-based firing dynamics, propagates activity through weighted synapses, and generates motor neuron outputs. The robot converts returned muscle activations into differential wheel commands, forming a closed sensorimotor feedback loop. This paper describes the software architecture, mathematical formulation, experimen...