Like the closely-related millipedes they are highly segmented (15 to 173 segments), with one pair of walking legs per segment. They differ mainly in that millipedes have their segments fused in pairs. Centipedes are flattened, and are among the fastest and most agile of arthropod predators.
The head of a centipede has a pair of antennae and jaw-like mandibles and other mouthparts that evolved from modified appendages. The frontmost trunk segment of a centipede has a pair of poison claws on it that are used for defense and, more often, for paralyzing prey.
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