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.
Pedipalps are the second pair of appendages of chelicerates – a group of arthropods including spiders, scorpions, horseshoe crabs, and sea spiders. The pedipalps are lateral to the chelicerae ("jaws") and anterior to the first pair of walking legs.
Myriapods are the members of subphylum Myriapoda, containing arthropods such as millipedes and centipedes. The group contains about 13,000 species, all of them terrestrial.
Isopoda is an order of crustacean, which includes woodlice and their relatives. Members of this group are called Isopods and include both terrestrial and aquatic species. All have rigid, segmented exoskeletons, two pairs of antennae, seven pairs of jointed limbs on the thorax, and five pairs of branching appendages on the abdomen that are used in respiration. Females brood their young in a pouch under their thorax.
An appendage is an external body part, or natural prolongation, that protrudes from an organism's body.
The decapod is made up of 20 body segments grouped into two main body parts: the cephalothorax and the pleon (abdomen). Each segment may possess one pair of appendages, although in various groups these may be reduced or missing. They are, from head to tail:
The arthropod leg is a form of jointed appendage of arthropods, usually used for walking. Many of the terms used for arthropod leg segments are of Latin origin, and may be confused with terms for bones: coxa, trochanter, femur, tibia, tarsus, ischium, metatarsus, carpus, dactylus, patella.
Harpaphe haydeniana, commonly known as the yellow-spotted millipede, almond-scented millipede or cyanide millipede, is a species of polydesmidan ("flat-backed") millipede found in the moist forests along the Pacific coast of North America, from Southeast Alaska to California. The dark coloration with contrasting yellow-tipped keels warn of its ability to exude toxic hydrogen cyanide as a defense. The cyanide secretions are not dangerous to humans, but can cause irritation and pain if it contacts sensitive areas such as the mouth, eyes, or nose.
Spirobolida is an order of "round-backed" millipedes containing approximately 500 species in 12 families. Its members are distinguished by the presence of a "pronounced suture that runs "vertically down the front of the head". Most of the species live in the tropics, and many are brightly coloured. Mature males have two pairs of modified legs, the gonopods, consisting of the 8th and 9th leg pair: the posterior gonopods are used in sperm-transfer while the anterior gonopods are fused into a single plate-like structure.
Glomerida is an order of pill-millipedes found primarily in the Northern Hemisphere. Also known as northern pill millipedes, they superficially resemble pill-bugs or woodlice, and can enroll into a protective ball. They have twelve body segments, 17 to 19 pairs of legs, and males have enlarged rear legs involved in mating. The order includes about 30 genera and at least 280 species, including Glomeris marginata, the common European pill-millipede. The order contains members in Europe, South-east Asia and the Americas from California to Guatemala. Although historically considered closely related with the similar sphaerotheriidans that also enroll, some DNA evidence suggest they may be more closely related to glomeridesmidans, a poorly known order that does not enroll.
Mammamia profuga is a species of cave-dwelling millipede in the family Julidae. The only known species of the genus Mammamia, it was described in 2011 from a specimen discovered in a cave in Italy.
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.
Dromia personata, also known as the sponge crab or sleepy crab, is a species of crab found in the North Sea, the Mediterranean Sea, and connecting parts of the northeastern Atlantic Ocean. Like most other epibenthic crustaceans, the biomass of this species is especially dense in the Mediterranean continental shelf. It mainly resides from the lower shore to a depth of 50 meters (164 ft), often in caves. Occasionally, they are found living in depths as low as 110 meters (360 ft). They serve as prey for octopus, starfish, and other fish. Their last two pairs of legs are positioned dorsally, and are used to hold a sponge in place as camouflage.
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.
Polyxenida is an order of millipedes readily distinguished by a unique body plan consisting of a soft, non-calcified body ornamented with tufts of bristles – traits that have inspired the common names "bristly millipedes" or "pincushion millipedes". There are at least 86 species in four families worldwide, and are the only living members of the subclass Penicillata.
Chordeumatida is a large order of millipedes containing some 1200 species with a nearly worldwide distribution. Also known as sausage millipedes, they 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.
The Archidesmida is an extinct order of millipedes known from fossils from the Devonian period of Europe and North America. Archidesmidans have broad flat keels (paranota) extending from their body segments, and a modified pair of legs on the 8th segment that may have been involved in mating, similar to the gonopods of living millipedes which insert sperm into females. Alternately, the modified legs may have been used to grasp onto partners during mating.
Brachycybe (Greek for "short head") is a genus of andrognathid millipedes with species in the United States and East Asia. In a rare example of paternal care in invertebrates, males of most species guard the eggs until they hatch.
Juliformia is a taxonomic superorder of millipedes containing three living orders: Julida, Spirobolida, and Spirostreptida, and the extinct group Xyloiuloidea known only from fossils.
Chordeumatidae is a family of millipedes belonging to the order Chordeumatida. These millipedes range from 7 mm to 18 mm in length and are found in Europe. Adult millipedes in this family have either 28 or 30 segments. This family features distinctive sex-linked modifications to the legs in adults: In the adult female, a legless sternite replaces the third pair of legs, and in the adult male, five pairs of legs are modified in the gonopod complex. These modifications are more extensive than those found in other adult males in this order, which often have only two leg pairs modified into gonopods. With the more extensive modifications to the legs in this family, species with the usual 30 segments feature adult females with only 49 leg pairs and adult males with only 45 pairs of walking legs, and species with only 28 segments feature adult females with only 45 leg pairs and adult males with only 41 pairs of walking legs.
