Millipedes are a group of arthropods that are characterised by having two pairs of jointed legs on most body segments; they are known scientifically as the class Diplopoda, the name derived from this feature. Each double-legged segment is a result of two single segments fused together. Most millipedes have very elongated cylindrical or flattened bodies with more than 20 segments, while pill millipedes are shorter and can roll into a tight ball. Although the name "millipede" derives from Latin for "thousand feet", no species was known to have 1,000 or more until the discovery in 2020 of Eumillipes persephone, which can have over 1,300 legs. There are approximately 12,000 named species classified into 16 orders and around 140 families, making Diplopoda the largest class of myriapods, an arthropod group which also includes centipedes and other multi-legged creatures.
Polydesmida is the largest order of millipedes, containing approximately 3,500 species, including all the millipedes reported to produce hydrogen cyanide (HCN). Polydesmids grow and develop through a series of moults, adding segments until they reach a fixed number in the adult stage, which is usually the same for a given sex in a given species, at which point the moulting and the addition of segments and legs stop. This mode of development, known as teloanamorphosis, distinguishes this order from most other orders of millipedes, which usually continue to moult as adults, developing through either euanamorphosis or hemianamorphosis.
Xystodesmidae is a family of millipedes. Its members often have very small distributional areas, with many species only known from a single locality. They are found across the northern hemisphere, with peak diversity in the Appalachian Mountains, where one-third of the 300 or so species occur. They are particularly abundant in deciduous broadleaf forests in the Mediterranean Basin, Africa, Asia, Central and North America, and Russia. Information on basic taxonomy is scant for this family; for example, it is estimated that the genus Nannaria contains over 200 species, but only 25 were described as of 2006. By 2022, 78 species in Nannaria have been described.
Tridontomidae is a small family of millipedes. Its members are endemic to Guatemala. These millipedes range from 22 mm to 28 mm in length and are uniformly grayish in color; their legs and antennae are unusually long and slender. This family includes the remarkable species Aenigmopus alatus, in which adult males feature no gonopods. This millipede is the only species in the infraclass Helminthomorpha without gonopods.
Richard Lawrence Hoffman was an American zoologist known as an international expert on millipedes, and a leading authority on the natural history of Virginia and the Appalachian Mountains. He was a biology professor at Virginia's Radford College for almost thirty years, and curator of invertebrates at the Virginia Museum of Natural History for another twenty years. He co-founded the Virginia Natural History Society, described over 400 species of millipedes, and produced more than 480 scientific publications. He is commemorated in the scientific and/or common names of over 30 animal species, including the valley and ridge salamander and Hoffman's dwarf centipede.
Caseyidae is a family of millipedes in the order Chordeumatida. Adult millipedes in this family have 30 segments. There are about 7 genera and at least 40 described species in Caseyidae.
Cleidogonidae is a family of millipedes in the order Chordeumatida. Adult millipedes in this family have 28, 29, or 30 segments. This family includes the genus Tianella, notable for featuring adult millipedes with 29 segments, a number not found in the adults of any other chordeumatidan species. All Tianella species have adults with 29 segments except for two in which adults have only 28 segments. In the Tianella species with 29 segments, adult females have 48 pairs of legs, as one would expect in adult female chordeumatidans with one segment fewer than the 30 usually found in this order. There are seven genera and at least 140 described species in Cleidogonidae.
Conotylidae is a family of millipedes in the order Chordeumatida. Adult millipedes in this family have 30 segments. There are about 19 genera and at least 60 described species in Conotylidae.
Craspedosomatidae is a family of millipedes in the order Chordeumatida. Most adult millipedes in this family have 30 segments, but some have only 28. There are at least 30 genera and 210 described species in Craspedosomatidae.
Rhiscosomides is a genus of millipedes in the order Chordeumatida with seven described species, and is the only genus in the family Rhiscosomididae. Adult millipedes in this family have 30 segments.
Striariidae is a family of millipedes in the order Chordeumatida. Adult millipedes in this family have 30 segments. There are at least 3 genera and about 13 described species in Striariidae.
Tingupidae is a family of millipedes in the order Chordeumatida. Adult millipedes in this family have 28 or 30 segments. There are 2 genera and 13 described species in Tingupidae.
Trichopetalidae is a family of millipedes in the order Chordeumatida. Adult millipedes in this family have 28 or 30 segments. There are about 5 genera and at least 30 described species in Trichopetalidae.
Sphaeriodesmidae is a family of flat-backed millipedes in the order Polydesmida. There are about 15 genera and at least 90 described species in Sphaeriodesmidae.
Orthoporus texicolens is a species of millipede in the family Spirostreptidae. It is found in Central America and North America.
Abacion is a genus of crested millipedes in the family Abacionidae. There are about 10 described species in Abacion.
Underwoodia iuloides is a species of millipede in the family Caseyidae. It is found in North America.
Underwoodia is a genus of millipedes in the family Caseyidae. There are at least three described species in Underwoodia.
Abacion tesselatum is a species of crested millipede in the family Abacionidae. It is found in North America.
Conotyla blakei is a species of millipede in the family Conotylidae. It is found in North America.
