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.

Alignment

Center

SCASM has since been expanded to odor tracking, and it has led other leg morphologies and been used for to the development of LegConNet.