Chilopoda (centipede) Dorsal view Diplopoda (millipede) External view antenna eyes legs (jointed) diplosegment antenna maxilliped (poison claw) legs (jointed) tergal plate telson Chilopoda (Scutigera) Lateral view of head first maxilla second maxilla maxilliped (poison claw) eyes first tergal plate first leg second tergal plate second leg The Chilopoda The Chilopoda are commonly known as centipedes. There are roughly 3,000 species of centipedes, ranging from about 1 inch (3 cm) in length to 10 inches (26 cm) for some tropical species. Centipedes have a single pair of legs on each segment, with the front-most ones being modified into claws equipped with poison glands. These front legs are called maxillipeds and allow the centipedes to be effective predators. Eyes are simple rather than compound. The upper and lower surfaces of the trunk segments are armored with thickened plates called tergal plates and are joined by a flexible membrane. The last division of the body, the telson, is not considered a true segment because it lacks legs. Centipedes live mainly in soil and humus and under stones and rocks. The Diplopoda The Diplopoda, commonly known as millipedes, have two pairs of legs on each body segment. The average millipede species (of which there are 10,000) will have between 100 and 300 legs in total, although the Illacme plenipes species has 750 legs. Millipede length ranges from 0.08 to 12 inches (2300 mm) with most species between 2 and 6 inches (50150 mm). Most millipedes are detritivores or herbivores. They eat decaying organic matter and plants. Eyes tend to be simple. Milipedes are nocturnal and avoid becoming prey to the more aggressive centipedes by producing an irritating substance from glands in the thorax. This substance is released when they feel threatened. herbivore maxilliped predator segment Key words