Segmental-fusion
Guides
Diplopoda
millipedes
Millipedes (Diplopoda) are a class of myriapod arthropods characterized by having two pairs of jointed legs on most body segments, a result of segmental fusion during their evolutionary history over 400 million years ago. They are primarily detritivores that play critical roles in ecosystem nutrient cycling through decomposition of organic matter. The class contains approximately 12,000 described species across 16 extant orders, with body forms ranging from elongated cylindrical forms to short, pill-like species capable of conglobation (rolling into a defensive ball).