Centipedes are arthropod

Arthropod

An arthropod is an invertebrate animal having an exoskeleton , a segmented body, and jointed appendages. Arthropods are members of the phylum Arthropoda , and include the insects, arachnids, crustaceans, and others...

s belonging to the class Chilopoda of the subphylum Myriapoda

Myriapoda

Myriapoda is a subphylum of arthropods containing millipedes, centipedes, and others. The group contains 13,000 species, all of which are terrestrial...

. They are elongated metameric

Metamerism (biology)

In biology, metamerism is a linear series of body segments fundamentally similar in structure, though not all such structures are entirely alike in any single life form because some of them perform special functions....

 animals with one pair of legs per body segment. Despite the name, centipedes can have a varying number of legs from under 20 to over 300. Centipedes have an odd number of pairs of legs, e.g. 15 or 17 pairs of legs (30 or 34 legs) but never 16 pairs (32 legs). A key trait uniting this group is a pair of venom claws or "forcipules" formed from a modified first appendage

Appendage

In invertebrate biology, an appendage is an external body part, or natural prolongation, that protrudes from an organism's body . It is a general term that covers any of the homologous body parts that may extend from a body segment...

.