Okay so, this is what I came up with for Centipeetle's segmented body. Its two separate pieces made of foam sheets and covered by black knit fabric, with elastic in the waist. I don't know why the top piece came out bigger than the bottom when I used the same template for both but oh well. I may or may not try to even them out. The gems are made of a stretchy metallic fabric and the pincher is made from the same purple knit I used for the arms and legs (not pictued here, just imagine tights and a knit top; the hands and feet aren't done yet).

Yes the bottom looks and feels like a giant diaper. :[

Anyways everything is soft, there's no hard/plastic parts. So I can run and roll around and not hurt myself, lol. I sewed a pencil case into the inside front of the bottom piece, like an inverted kangaroo pouch, to hold my stuff. There's room inside both pieces to store props like the Chaaaaps bag (I may make a more props too).