Researchers in the field of computer animation target at the problem of reproducing the mobile capability of real insects on their virtual representation. Virtual insects are widely used in graphical applications, including video games, movies and virtual/augmented reality etc. In contrast to the large collection of existing works in biped simulation, the field of insect simulation is less explored. Previously researchers set up a specialized system of synchronized cameras to capture and synthesis insect motion9. However this method requires manual post-processing and specialized hardware. Researchers also tackled this problem by procedurally but kinematically modelling the gait of multi-legged creatures10. By carefully selecting the foot placement, this method is able to adapt to different terrains and recover from perturbations. Due to the lack of a fully actuated model, the motion synthesized in this way is not physically-plausible and cannot take full advantage of the information from the interaction with the environment. Previous methods11,12 modelled the controller of virtual insects as a network of nonlinear oscillators and tuned the parameters of the network via the optimization strategy of Covariance Matrix Adaptation (CMA). The network was designed to mimic the Central Pattern Generator, which was found in real insects and in charge of their gait pattern. Researchers also modelled and animated virtual myriapoda by developing a hybrid animation system that combines kinematic and dynamic simulation13. While the body was driven by both rigid body simulation (for hard skeleton) and finite element method (for soft interlinks), the leg movements were synthesized in a kinematic fashion.