I'd actually made the rig/animation for this as an experiment several years ago, however there wasn't any mesh - it was purely bones/control helpers. In the interests of saving time (it probably didn't), rather than recreate a new rig, I did things a little backwards and created a mesh to match the rig.
The feelers were added afterwards, and use the same tentacle script/rig as in the "Faun" project. I'm not super happy with the animation on those (nor the very back legs) but I forced myself to not get bogged down working on one aspect of the creature too much.
I'd actually like to revisit this(or a similar concept) sometime, as I'm sure I could come up with a much more robust rig now.
Mantis Centipede
Alternative colours. Remember: "Red on yellow - harmless fellow, Red on black - you won't come back". Uh...wait...
(But seriously, maybe just don't touch brightly coloured animals unless you ABSOLUTELY know what you're doing)