Arthropoda Myriapoda Classes The Subphylum Myriapoda can be further categorized into classes. Myriapoda means “many legs”. Chilopoda: Centipedes Coming Soon Centipedes have a pair of antennae. They usually have a flattened body. Each body segment has two legs positioned to the side of the body. Diplopoda: Millipedes Coming Soon Millepedes have a pair of antennae. They usually have a round, cylindrical body. Each body segment has four legs positioned underneath the body. Pauropoda Coming Soon Symphala: Garden Centipedes Coming Soon