Figure 1. Overview of centipede appendages.

(A) Habitus of Scutigera coleoptrata from dorsal. Walking legs gradually increasing in length along body axis. Note the resemblance of anterior (left) and posterior (right) pole of the body (Original). (B–D) Schematic representations of serially homologous, modified arthropodia of Geophilus flavus, not to scale. (B) Walking leg 10 (view from posterior, Original). (C) The forcipule with the typical shared joint of distal podomeres (view from ventral, modified after Haug et al., 2014). (D) The ultimate leg with coxal pores (view from ventral, Original). (E) Articulation and movement of ultimate legs in Scolopendra morsitans (lateral view, modified after Jangi, 1961). Elevated leg (solid line), resting leg (dotted line), and walking leg 20 for size comparison (solid grey line). Dorsoventral movements are restricted by dorsally located pivot joints (red dots). (F) Horizontal movements are restricted by the joint between coxopleura and prefemur (compare E, modified after Jangi, 1961). Scale bar: A 1 cm. Abbreviations: cl, pretarsal claw; cx, coxa: cxp, coxal pores; cxpl, coxopleura; cxst, coxosternite; fe, femur; fvp, forcipular venom pore; pfe, prefemur; ste21, sternum 21; ta, tarsus; ta1, tarsus 1; ta2, tarsus 2; tas, tarsungulum; ter21, tergite 21; ti, tibia; tr, trochanter; trpf, trochanteroprefemur; wl20, walking leg 20.