Centipeda, pen. cor. Vermis. Plin. A worme called a palmer, hairy and of many feete.
Lewis and Short: Latin dictionary
centĭpĕda or centŭpĕda, ae, f. [centum-pes], a centipede, a worm, called also millepeda or multipeda, Plin. 29, 6, 39, 136; 30, 6, 16, 47; Arn. 2, p. 79 (in Isid. Orig. 12, 4, 33, centupeda).