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- Oncopoda - Oncopoda is a hypothetical group of animals comprising the Onychophora, Tardigrada and Pentastomida.
- Peripatus - Peripatus is a genus of Onychophora, which is distinguished by its independent pairs of legs, a characteristic which many entomologists believe suggests an evolutionary link between arthropods and worms. Peripatus is one of the group of animals known collectively as Velvet worms.
- Panarthropoda - Panarthropoda is a taxon combining the phyla Arthropoda, Tardigrada and Onychophora. Originally, they were considered to be closely related to the annelids, grouped together as the Articulata, but newer studies place them among a group called the Ecdysozoa.
- Velvet worm - Onychophora, the velvet worms (occasionally called walking worms or spitting worms), are segmented, caterpillar-like, terrestrial animals somewhat resembling both arthropods and annelid worms. They are generally regarded either as a class of arthropods or as a separate phylum (in which case they are the only animal phylum to ...
- Uniramia - Thee Uniramia are a major group of Arthropoda, consisting of organisms with an exoskeleton, jointed appendages, and with legs that do not branch, namely the Hexapoda (insects and allies) and Myriapoda (centipedes, millipedes, and related forms). In Manton's original proposal, the Uniramia also included the Onychophora (velvet worms), but the discovery of fossil lobopods that are intermediate between onychophorans and arthropods is strong evidence for the two groups being separate.