Millipedes (Class Diplopoda, previously also known as Chilognatha) are very elongated arthropods with cylindrical bodies that have two pairs of legs for each one of their 20 to 100 or more body segments (except for the first segment behind the head which does not have any appendages at all, and the next few which only have one pair of legs). Each segment that has two pairs of legs is a result of two single segments fused together as one.
This class contains around 10,000 species. These animals are detritivores, slow and nonvenomous; unlike the somewhat similar and closely related centipedes (Class Chilopoda), which can be easily distinguished by their single pair of legs for each body segment. Most millipedes eat decaying leaves and other dead plant matter, moisturizing the food with secretions and then scraping it in with the jaws.