# Self-Configurable Centipede-Inspired Rescue Robot
## 1 Introduction  
In light of the growing frequency of natural disasters and emergency situations, the development of intelligent rescue robots, particularly those taking inspiration from multi-legged organisms like centipedes, has become increasingly imperative. Traditional rescue robots often encounter challenges such as high risk, low efficiency, and a scarcity of human resources, particularly in complex and unpredictable environments. Addressing these challenges requires harnessing natural biological mechanisms and integrating intelligent technologies to enhance the adaptability, flexibility, and intelligence of rescue robots. Consequently, bio-inspired multi-legged robots, such as those resembling centipedes, have garnered attention for their superior adaptability in navigating complex terrains [1, 2, 3, 4, 5, 6]. Centipede-inspired rescue robots derive significant benefits from research conducted on multi-legged biological robots and collective behaviors. Studies have illustrated that creatures, such as insects, fish, and birds, can solve tasks that are challenging for individuals through self-organization and environmental interaction. These insights have propelled the development of aerial, aquatic, and terrestrial robotic swarm systems, capable of proficient real-world navigation and task execution, including mapping, tracking, inspection, and transportation [7, 8, 9, 10]. While these studies provide valuable theoretical foundations for robotic technology, they frequently focus on a single type of robot and lack comprehensive adaptability to complex environments. Recent innovations in the design and control of multi-legged robots have emerged. For example, several studies [11; 12; 13; 14; 15; 16; 17; 18] have demonstrated robots autonomously adjusting to various terrains by modifying body flexibility and gait. These advancements have notably improved robot efficiency in specific environments, yet they still exhibit limited adaptability in diverse and unpredictable rescue scenarios. Furthermore, breakthroughs in soft materials and actuation technologies [19; 20; 21; 22; 23; 24] have offered enhanced mobility and environmental adaptability, albeit challenges persist in terms of durability and energy efficiency. The evolution of multimodal sensing and communication technologies has significantly bolstered robots' environmental perception and processing abilities. Studies [25; 26; 27; 28; 29; 30; 31] have highlighted the integration of diverse sensing methods to enhance robots' environmental perception and decision-making capabilities, albeit stability and accuracy in complex environments still require improvement. Moreover, advancements in collective intelligence and collaboration technologies [32; 33; 34; 35; 36; 37; 38] empower robotic swarms to coordinate and execute tasks efficiently, though coordination and robustness in large-scale, dynamic environments remain challenging. Insect-inspired robot design has emerged as a prominent area of research, encompassing optimizations of locust jumping mechanisms, explorations of insect-robot hybrid interactions, and breakthroughs in soft robotics mimicking insect locomotion. These studies not only drive forward the advancement of robot technology but also open up new research avenues in insect biology [39; 40; 41; 42; 43; 44]. The present study aims to consolidate recent research findings pertaining to insect-inspired robots and centipede-mimicking rescue robots. It delves into the intricacies of their deep simulation, drawing inspiration from biological behaviors and locomotion patterns. Through meticulous case studies and empirical research, the unique methodologies and strategies employed by these robots in simulating intricate movement patterns, perceiving the environment, and making behavioral decisions akin to those of insects or centipedes,practical applications.