Millipede (Diplopoda). Millipede vs. Centipede basics: Millipedes have two pairs of legs per body segment, are almost all detritivores or herbivores, and usually don't move quickly. Centipedes have one pair of legs per segment, are carnivores with fangs and venom, and are often fast-moving. So, millipedes are fairly harmless -- although many can exude various foul-smelling and/or toxic defense chemicals (Malaysian Borneo).
