An investigation of the biological locomotion and control mechanisms observed in Diplopoda (millipedes) is performed in order to provide design rules for the development of a crawling millipede-inspired robot (millibot). Millipedes have long bodies with numerous pairs of legs, which allows them to perform higher ranges of motion compared to other arthropods traveling in the same environment. The relevant features of millipedes with respect to robotics include: (i) metachronal locomotion, (ii) ability to burrow through different substrates, and (iii) capability to traverse uneven terrains and align themselves swiftly when fallen over. A mathematical model is proposed describing these locomotion features that will provide guidance towards emulating these actions in a millibot.

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