Millipedes have short antennae and move in slow waves, burrowing and eating their way through moist leaf clutter, fungi, and decayed plant material on the ground. ... The antennae help them locate their prey, and their first pair of legs, modified into venomous claws, help them capture and paralyze their prey.

How do millipedes use their antennae?

They sense their way around by using their antennae which continually taps the ground as the millipede moves along. The head contains a pair of sensory organs found just behind their antennae and are oval shaped. They are probably used to measure the humidity in the surroundings.

How many antennae do centipedes have?

Instead, they have a hard exterior covering, called an exoskeleton. They have six legs and two antennae, and their body is made up of three main regions: head, thorax and abdomen.