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Distinction from millipedes

There are many differences between millipedes and centipedes. Both groups of myriapods have long, multi-segmented bodies, many legs, a single pair of antennae, and the presence of postantennal organs. Centipedes have one pair of legs per segment, while millipedes have two. Their heads differ in that millipedes have short, elbowed antennae, a pair of robust mandibles and a single pair of maxillae fused into a lip; centipedes have long, threadlike antennae, a pair of small mandibles, two pairs of maxillae and a pair of large venom claws.