 Among myriapods, millipedes have traditionally been considered most closely related to the tiny pauropods, although some molecular studies challenge this relationship.Millipedes can be distinguished from the somewhat similar but only distantly related centipedes (class Chilopoda), which move rapidly, are venomous, carnivorous, and have only a single pair of legs on each body segment.The scientific study of millipedes is known as diplopodology, and a scientist who studies them is called a diplopodologist.