In conclusion, we have proposed a neuro-musculo-skeletal model of virtual insects. By incorporating some nature-tested mechanisms of real insects, the model is capable of reproducing the gait pattern observed from real insects on virtual ones. There are a couple of directions for future works. The current implementation uses a single neuron to simulate the neuron group activating the same muscle. Improving the model complexity to match the real insect is worth exploring. To extend this framework to these advanced motion skills is one of the future efforts. How to encode more sophisticated behaviours, such as collective transport35, as patterns of spiking trains is even more challenging.