Abstract: Unlike two, four, six, and eight legged animals, Myriapoda---i.e., centipedes, millipedes, etc.---have been largely overlooked in the computer graphics literature. We present an artificial life framework for modeling these arthropods and animating their locomotive behavior over regular or irregular surfaces in real time with compelling physical and biological realism. Our hybrid approach combines kinematic and dynamic simulation, as well as a decentralized, distributed leg control system whose emergent behavior is suitable for animating simulated myriapoda of different morphologies with the characteristically vivid leg wave patterns of their biological counterparts. The simulated creature's antennae sense its virtual environment and the sensory information guides its adaptive behaviors, including obstacle avoidance and foraging.