This document summarizes the subphylum Myriapoda, which includes centipedes and millipedes. It describes their key physical features like a segmented body, legs, antennae and mandibles. It explains that centipedes have one pair of legs per segment while millipedes have two pairs. The document outlines their four main classes and provides details on centipedes, millipedes, pauropods and symphylans. It also covers their reproduction, diet, locomotion, habitat and references used.