Myriapoda

This family includes centipedes, millipedes and some others (Symphyla ,Pauropoda). There are about 16000 species.

Centipedes are predatory and venomous. There are 3300 species which mainly hunt at night

Millipedes are slow moving and feed off leaf litter. They have fusion of body segments giving the appearance of 2 pairs of legs per segment. there are about 12000 species. Although their name means "thousand legs", they actually have between 36 and 400 (which is still a lot of legs to coordinate!-I have enough trouble with two)