The Centipede-Bot was a Beetleworx.
Created by the Mad Doctor at some point before or during the Blot Wars, this Beetleworx had a centipede-like body and two heads, one designed to resemble the head of Mickey Mouse, and the other Abraham Lincoln. It is unknown what the purpose of this Beetleworx was, but it was seemingly gone by the time Mickey arrived in Wasteland, probably having been destroyed in the Blot Wars (or possibly decommissioned by Oswald due to its Mickey-head, if it was created before the Blot Wars).
Behind the scenes
The Centipede-Bot was intended to feature in Epic Mickey, only to be scrapped like many other early Epic Mickey concepts for being too dark and disturbing in appearace. It is still possible, however, that it existed in-universe nonetheless.