Maybe, I know they can also shed their legs, but idk if they still move around then. I've seen them moving around for a long time after disconnected, like minutes. It's weird.
Well, think about the specific mental efforts to move your own limbs, then take that along the path of many more legs and much less mind. Centipedes don't have the brainpower to consciously move about their legs at will, so there needs to be a degree of autonomy in their movement. As well, because of both that reason and their reduced flexibility, the moving parts of those legs are much similar. Because their legs basically just follow the command "walk" as compared to the acrobatics we can do, they require less input to move, and as such can continue moving much more easily even after being severed. The nerves still have some residual "walk" commands firing, so the leg just wiggles mechanically until it runs out of gas.