F) Subphylum Myriapoda This group includes centipedes and millipedes. Centipedes are predators that hunt other arthropods, while millipedes are herbivores. As well as the number of legs, how else can you tell centipedes and millipedes apart? G) Subphylum Hexapoda The group includes the insects, the most numerous of all animals. They have a body composed of three parts (head, thorax, abdomen), and three pairs of walking legs. Many have wings on the thorax. External anatomy of a grasshopper: note the division of the body into the head, thorax, and abdomen. On the legs, the segment closest to the body is the femur, then the tibia, then the tarsus. Why are jointed appendages beneficial? How many body segments do hexapods have? How many legs?