Etymology
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centipede (n.)

"venomous, many-legged, insect-sized arthropod," 1640s (earlier in English in Latin form, c. 1600), from French centipède, from Latin centipeda "many-footed arthropod," from centum "hundred" (see hundred) + pedis, genitive of pes "foot" (from PIE root *ped- "foot"). Related: Centipedal.

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Definitions of centipede

centipede (n.)
chiefly nocturnal predacious arthropod having a flattened body of 15 to 173 segments each with a pair of legs, the foremost pair being modified as prehensors;
From wordnet.princeton.edu