Chilopoda vs. Diplopoda — What's the Difference?

One of the orders of myriapods, including the centipedes. They have a single pair of elongated legs attached laterally to each segment; well developed jaws; and a pair of thoracic legs converted into poison fangs. They are insectivorous, very active, and some species grow to the length of a foot.

An order of myriapods having two pairs of legs on each segment; the Chilognatha.

Arthropods having the trunk composed of numerous somites each bearing one pair of legs: centipedes

Arthropods having the body composed of numerous double somites each with two pairs of legs: millipedes