Myriapod locomotion has an advantage over wheeled and tracked vehicles on a rough terrain, as each leg can discretely contact the ground at several points. However, there are many unanswered questions regarding the mechanism for myriapod locomotion, particularly with respect to manner of legs movement and torso undulation. The typical myriapod robots, however, were originally large and heavy in order to actuate numerous joints; thus, it is difficult to believe that these robots are able to synthesize aspects of intelligence, such as adaptability, of Myriapoda. Therefore, the aim of our study is to develop a light, simple, and adaptive myriapod robot based on passive dynamics. We assume that interaction between the leg and environment includes an implicit control law, which enhances mobility and stabilizes locomotion. The mechanical aspects of the torso and legs such as flexibility may be the basis of the implicit control law. Thus, in this study, we develop a novel prototype of the myriapod robot called i-CentiPot 01 by implementing passive dynamics, and subsequently analyze its locomotion and conduct some field test in order to demonstrate its adaptability in accordance withthe implicit control law given by the passive dynamics.