possessing large numbers of and associated pairs of .
These are the and the , which are – or, more strictly, they are – and myriapods, respectively.
The millipede segments (a.k.a., ) actually are segments and thus they have two pairs of (legs) per segment versus the one pair per segment seen with centipedes.
In addition to legs, these members of phylum Arthropoda possess antennae, mandibles, and other appendages. The centipedes in addition produce for the sake of prey and as they can use in .
Formally, the myriapods are members of .