Kinematics of nonstationary locomotion in the centipede <Emphasis Type="Italic">Scolopendra cingulata</Emphasis>: A single instant change of speed

The spatiotemporal parameters of leg movement in Scolopendra instantly changing the locomotion speed from V ₁ to V ₂ ≠ V ₁ are investigated. It is shown that (i) the principle of “in trail” leg placement is kept upon a change of speed; (ii) the continuity of the metachronal coordination is not disturbed; but (iii) for some time after changing speed the set of ipsilateral legs comprises (a) head-proximal legs creating a new trackway of steps with pace ℓ₂, and (b) distal legs still using the old trackway with pace ℓ₁. The two groups differ in kinematic parameters. Group (a) works in the stationary mode corresponding to speed V ₂, while group (b) works in a transitory mode. Consecutively, with a metachronal wave propagating backwards along the body but immobile relative to the ground, more and more legs from group (b) switch to the new stationary mode.