Sensory Coupled Action Switching Modules (SCASM) was originally based on known neural pathways in a stick insect. SCASM is a control concept that coordinates a system to generate an emergent behavior. A level way to represent SCASM can be found below.
![](https://engineering.case.edu/sites/default/files/styles/_none/public/scasm1.png?itok=iAvs3858)
SCASM has since been expanded to odor tracking, and it has led other leg morphologies and been used for to the development of LegConNet.