millipede(n = noun.animal) millepede, milliped - any of numerous herbivorous nonpoisonous arthropods having a cylindrical body of 20 to 100 or more segments most with two pairs of legs;
is a kind of arthropod
is a member of class diplopoda, class myriapoda, diplopoda, myriapoda

millipede, n. (also millepede) any arthropod of the class Diplopoda, having a long segmented body with two pairs of legs on each segment.

Etymology:
L millepeda wood-louse f. mille thousand + pes pedis foot