Nematodes, or roundworms, are one of the most abundant phyla of animals. They have a cylindrical shape with a flexible cuticle and lack organs like cilia. Nematodes can be free-living in soil and water or parasitic in plants and animals. They are classified based on features of their sensory organs, excretory systems, and male tail structures. Common examples are the human parasites Ascaris and Trichinella.