Myriapoda

Myriapoda is a subphylum of arthropods containing millipedes, centipedes, and others. The group contains over 13,000 species, all of which are terrestrial. Although their name suggests they have myriad (10,000) legs, myriapods range from having over 750 legs to having fewer than ten legs. The fossil record of myriapods reaches back into the late Silurian, although molecular evidence suggests a diversification in the Cambrian Period. Myriapods have a single pair of antennae and, in most cases, simple eyes. The mouthparts lie on the underside of the head, with an "epistome" and labrum forming the upper lip, and a pair of maxillae forming the lower lip. A pair of mandibles lie inside the mouth. Myriapods breathe through spiracles that connect to a tracheal system similar to that of insects. There is a long tubular heart that extends through much of the body, but usually few, if any, blood vessels. For more information visit the Wikipedia Entry Get back to Arthropoda
Centipede	Millipede