"Myriapods" include the two Classes Diplopoda and Chilopoda, which 

really quite different. Diplopods (millipedes or millipeds) generally 

have two pairs of legs on each body segment, are nonpoisonous, move

slowly and generally feed on soil, bacteria and fungi. Many species of

millipedes are found in caves and leaf litter. Centipedes have one 

pair of legs per body segment, move fast, are predators, and have

a pair of special, poisonous fangs just behind the head. Centipedes

are fairly rare in caves. 

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