The phylum Arthropoda includes insects, spiders, crustaceans, and other joint-legged invertebrates. They have segmented bodies, jointed appendages, and an exoskeleton. Their body plans range from two tagmata to three tagmata. They exhibit a variety of modes of feeding, respiration, and reproduction. Major subphyla include Chelicerata (spiders, scorpions), Crustacea (crabs, shrimp), and Uniramia (insects, centipedes, millipedes).