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Millipedes are wormlike, cylindrical arthropods with many legs. They look like centipedes, but centipedes have 1 pair of legs per body segment, whereas millipedes have 2 pairs of legs per body segment. A centipede's legs also stick out to the side, whereas a millipede's legs are somewhat hidden by their body. This is important because centipedes are predatory and have a painful bite, whereas millipedes won't hurt you.