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The Millipedes formerly belonged to the class Myriapoda, along with Quilópodes. The differences between the two new classes that are Quilópodes have forcípulas (which inoculates poison), Millipedes have antennae; Quilópodes are carnivores, Millipedes are herbivores; Millipedes are cylindrical, Quilópodes are flattened; Quilópodes has a pair of legs per segment, Millipedes have two pairs of legs per segment.