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From The Collaborative International Dictionary of English v.0.44 [gcide]:
Myriapoda \Myr'i*ap"o*da\, noun pl. [NL., fr. Gr. ? numberless + -poda.] (Zo["o]l.) A class, or subclass, of arthropods, related to the hexapod insects, from which they differ in having the body made up of numerous similar segments, nearly all of which bear true jointed legs. They have one pair of antenn[ae], three pairs of mouth organs, and numerous trache[ae], similar to those of true insects. The larv[ae], when first hatched, often have but three pairs of legs. See {Centiped}, {Galleyworm}, {Milliped}.
Note: The existing Myriapoda are divided into three orders: {Chilopoda}, {Chilognatha} or {Diplopoda}, and {Pauropoda} (see these words in the Vocabulary). Large fossil species (very different from any living forms) are found in the Carboniferous formation.
From WordNet (r) 2.0 [wn]:
Myriapoda
noun: arthropods having the body composed of numerous double somites each with two pairs of legs: millipedes [syn: {Diplopoda}, {class Diplopoda}, {class Myriapoda}]
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