Millipede

Just moving about on its two rows of countless legs looks to me a most complicated and complex concern of the millipede. I wonder how its motor nerves ensure synchronization of a milli-leg motion so that not a single leg may ever accidentally impede the smooth movement of the rest of its legs, avoiding errors that might cause either limb entanglements or a weird stampede, a blunder the millipede would rather keep to itself and guard against being gossiped about by creepers like cousin centipede!