any of a class (Chilopoda) of elongated, many-segmented, insect-eating arthropods with a pair of legs to each segment, the front pair being modified into poison claws
See centipede in American Heritage Dictionary 4
(sĕnˈtə-pēdˌ)
noun
Any of various wormlike arthropods of the class Chilopoda, having a flattened body composed of segments, each bearing a pair of jointed appendages. The appendages of the foremost body segment are modified into venomous biting organs with which it preys on insects, such as cockroaches.