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Although they are known to use similar inter-limb coordination patterns across species, it remains elusive whether common control principles exist for many-legged locomotion. To address this issue, we observed millipede walking and found that subtle trunk-pitch bending, coordinated with leg movements, sometimes appears. Drawing inspiration from this finding, we hypothesized that inter-limb coordination in many-legged locomotion could be generated via trunk\u2013limb coordination control. To test this hypothesis, we constructed a neuro-mechanical model of many-legged animals and proposed a simple trunk\u2013limb coordination control based on local sensory feedback. In simulations, we verified that our model can reproduce the inter-limb coordination of many-legged arthropods with various leg numbers. We expect that our model will provide new insights into the control principles underlying many-legged locomotion.<\/jats:p>","DOI":"10.1007\/s10015-025-01113-2","type":"journal-article","created":{"date-parts":[[2026,1,9]],"date-time":"2026-01-09T10:14:56Z","timestamp":1767953696000},"page":"34-45","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Millipedes suggest decentralized trunk\u2013limb coordination control is essential for inter-limb coordination in many-legged locomotion"],"prefix":"10.1007","volume":"31","author":[{"given":"Kotaro","family":"Yasui","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tatsumi","family":"Yamaichi","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Akio","family":"Ishiguro","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"297","published-online":{"date-parts":[[2026,1,9]]},"reference":[{"key":"1113_CR1","volume-title":"The Arthropoda. 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