Myriapoda is a subphylum of arthropods containing millipedes, centipedes, and others. The group contains 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 (Illacme plenipes) 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, and Cambrian fossils exist which resemble myriapods.
The scientific study of myriapods is myriapodology. (Wikipedia)
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 being 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 ball. Although the name "millipede" derives from the Latin for "thousand feet", no known species has 1,000; the record of 750 legs belongs to Illacme plenipes. 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.
(Wikipedia)
