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. Most millipedes have very elongated cylindrical or flattened bodies with more than 20 segments, while pill millipedes  are shorter and can roll into a ball. Although the name millipede derives from the Latin for thousand feet, no species was known to have 1,000 or more until the discovery of Eumilipes persephone, which can have over 1,300 legs
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