Millipedes are a group of arthropods that are characterised by having two pairs of jointed legs on most body segments; they are known scientifically as the class Diplopoda, the name derived from this feature. Each double-legged segment is a result of two single segments fused together. Its primary defense mechanism is to curl into a tight coil, thereby protecting its legs and other vital, delicate areas on the body behind a hard exoskeleton.
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