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Leeches are fascinating creatures: they have simple modular nervous circuitrym yet exhibit a rich spectrum of behavioural modes. Leeches could be idealblue-prints for designing flexible soft robots which are modular,multi-functional, fault-tolerant, easy to control, capable for navigating usingoptical, mechanical and chemical sensorial inputs, have autonomousinter-segmental coordination and adaptive decision-making. With future designsof leech-robots in mind we study how leeches behave in geometricallyconstrained spaces. Core results of the paper deal with leeches exploring a rowof rooms arranged along a narrow corridor. In laboratory experiments we findthat rooms closer to ends of the corridor are explored by leeches more oftenthan rooms in the middle of the corridor. Also, in series of scopingexperiments, we evaluate leeches capabilities to navigating in mazes towardssources of vibration and chemo-attraction. We believe our results layfoundation for future developments of robots mimicking behaviour of leeches.

On exploration of geometrically constrained space by medicinal leeches Hirudo verbana