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Millipede On Fallen Tree In Forest. Millipedes Are Arthropods That Are Members Of The Diplopoda Class. They’Re Characterized By Having Two Sets Of Legs Or Four Legs Total Per Body Segment. Millipedes Also Don’T Have Powerful Venomous Jaws, And Their Antennae Are Shorter. And Unlike The Centipede, Millipedes Are Scavengers That Like To Feed On Decaying Organic Matter, Like Leaves And Compost.