biostudies-literatureDiaz KSimons FoundationNational Science Foundationjeb244688https://www.ebi.ac.uk/biostudies/studies/S-EPMC10215817biostudies-literatureUnknown226(4)Centipedes coordinate body and limb flexion to generate propulsion. On flat, solid surfaces, the limb-stepping patterns can be characterized according to the direction in which limb-aggregates propagate, opposite to (retrograde) or with the direction of motion (direct). It is unknown how limb and body dynamics are modified in terrain with terradynamic complexity more representative of these animal's natural heterogeneous environments. Here, we investigated how centipedes that use retrograde and direct limb-stepping patterns, Scolopendra polymorpha and Scolopocryptops sexspinosus, respectively, coordinate their body and limbs to navigate laboratory environments which present footstep challenges and terrain rugosity. We recorded the kinematics and measured the locomotive performance of theseThe Journal of experimental biologyActive and passive mechanics for rugose terrain traversal in centipedes.PMC10215817SFARI 594594DMS1764406GR10003305Diaz KGoldman DIErickson EChong BSoto DfalseActive and passive mechanics for rugose terrain traversal in centipedes.Centipedes coordinate body and limb flexion to generate propulsion. On flat, solid surfaces, the limb-stepping patterns can be characterized according to the direction in which limb-aggregates propagate, opposite to (retrograde) or with the direction of motion (direct). It is unknown how limb and body dynamics are modified in terrain with terradynamic complexity more representative of these animal's natural heterogeneous environments. Here, we investigated how centipedes that use retrograde and direct limb-stepping patterns, Scolopendra polymorpha and Scolopocryptops sexspinosus, respectively, coordinate their body and limbs to navigate laboratory environments which present footstep challenges and terrain rugosity. We recorded the kinematics and measured the locomotive performance of these2023-01-01T00:00:00Z2023 Feb2025-05-29T20:28:10.567Z2024-11-07T03:50:56.129ZS-EPMC102158173665581010.1242/jeb.244688