“…The following short paper is a review of two theories of locomotion as prevalent in the Neuroscience think tank, centralized motion as practiced in most human made designs and a decentralized approach, as prevalent in nature. (Strachan 2002;Kolers 1972;Yamada, Ogurusu, and Sakata 2010;Franciszek and Jan 2014;Wong and Rankin 2019;Saigusa 2000;Jurado 2007;Abdelhack, n.d.) We publish two robotic models of worm inspired locomotion, one centralized and decentralized in motion.…”