Animalia, Phylum Arthropoda,

Subphylum (SuperClass)*  Myriapoda
Hall Myriapoda
Class  Chilopoda

Class  Diplopoda
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Centipedes (from Latin centi = hundred + pes, pedis  = foot are predatory arthropods belonging to the class Chilopoda. They always have an odd number of pair of legs and the first pair is modified as "forcipules" stinger-like appendages that pierce and inject venom, normally not dangerous for humans. They have a pair of antennae and, with the exceptions of Scutigera, simple eyes. They are predominantly carnivorous.

Animalia, Phylum Arthropoda, Subphylum Chelicerata, SuperClass Myriapoda
From ancient Greek muríos = 'ten thousand + poús, podòs = foot

Segmented body with one or two pair of legs per segmentes.

15.000 describes species
* on Wikipedia information varies depending onthe language
Order Scolopendromorpha

Tey  possess 21 or 23 trunk segmentshave and four ocelli (simple eyes). They are nocturnal and their bright colors warn of their venomous nature
Order Scutigeromorpha

Also known as house centipedes, as often live on the ground levels of homes. With 15 pair of very long legs they are very fast creatures and are the only centipede with compound eyes. They are considered useful for humas, as they prey on other harmful insects.
Order Lithobiomorpha

Also known as stone centipedes, they have 15 trunk segments. their vision is rudimentary, with one to four ocelli, but even some species are blind

Animalia, Phylum Arthropoda, Subphylum Chelicerata, SuperClass Myriapoda
Millipedes (from Latin mille = thousand + pes, pedis  = foot) have two pairs of jointed legs body segments.They move slowly across ground and dead leaves and most of them are detritivores, eating decaying plant matter. Millipedes defend themselves curling into a tight coil, thereby protecting legs and vital areas under a hard exoskeleton, and also can release chemicals, secreted from pores along the body.
From ancient Greek kheilos = lip + poús, podòs = foot

One pair of legs per segment.

3000 describes species
From ancient di = two + poús, podòs = foot

Two pairs of legs per segment.

16 orders, 140 families, 12,000 described species
Order Spirobolida

"Round-backed" millipedes
are distinguished by the presence of a vertical suture in the front of the head. Most of them live in the tropics, many are brightly coloured and among them are "giant" species.
Order Polyxenida

"Bristly" or "pincushion" millipedes are small, have no more than 17 pairs of legs and a very characteristic soft, non-calcified body ornamented with tufts of bristle, that can detach and become entangled in the mouth of predatory insects, immobilizing them, as effective form of defense.
Order Polydesmida

From the Greek
poly = many + desmos = bond, f"lat-backed" millipedes are the largest order of millipedes. They have no eyes and often are bright colored to warn predators of their toxic secretion.
Order Julida

We can found them crawling through the dead leaves and woodlive in temperate regions, are mostly small and cylindrical, and can have small simple eyes or be blind..
Order Glomerida

They live above all in the northern hemisphere and resemble woodlice, from which are distinguished for the number of legs (17 pairs the adult females and 19 the males), and an even more ability to roll up themselves for defence into a ball ("volvation").
Map of Animals