From Longman Dictionary of Contemporary Englishcentipedecen‧ti‧pede /ˈsentəpiːd/ noun [countable] 
HBIa small creature like a worm with a lot of very small legs
HBIa small creature like a worm with a lot of very small legsExamples from the Corpus
centipede• And having bites on my face from a very large centipede.Origin centipede (1600-1700) Latin centipeda, from centi- ( → CENTI-) + pes “foot” 