Each body segment is modelled as cylinder with its length listed in Table 1. The radius of the cylinder is set to uniform (0.2 mm) across all leg segments. The data are extracted from the anatomy of real ants. During the locomotion cycle, legs in stance mode are dynamically actuated and legs in swing mode are kinematically animated. This is supported by biologically evidences that each leg only occupy a small proportion of body weight (5%) (Table 2), thus do not pose significant impact on overall body movements.Table 1Length of body segments. Unit: millimeter (mm).CoxaFemurTibiaTarsusFront0.252.492.332.37Middle0.252.822.743.13Back0.253.483.403.80Table 2Mass distribution of body segments. The dimensions of each part are the lengths along x, y, z axes.Dimension (mm)Mass (mg)Mass Proportion (%)Head2.67*2.20*0.505.2321.75Thorax3.07*1.01*0.503.8716.09Abdomen3.43*2.46*0.5011.3547.19Front Leg0.2*0.2*7.440.605.00Middle Leg0.2*0.2*8.940.504.12Back Leg0.2*0.2*10.930.705.82