[Kinematics of metachronous walking. III. Invariants]

The concept of a kinematic space for a locomotor system is introduced and regime of locomotion is defined as a continued one-dimensional manifold of this space. The problem of describing of locomotion is set (settled) by kinematic invariants. It is shown that metachrony of such millipedes as Scolopendra and Julus can be considered as a special case of some "relativity principle", on the basis of which the expression of metachrony invariant has come out. The attempt is made to use this principle for the determination of step's invariants of each individual leg too.