The Collaborative International Dictionary of English v.0.48:

Centipede \Cen"ti*pede\, n. [L. centipeda; centum a hundred +
   pes, pedis, foot: cf. F. centip[`e]de.] (Zool.)
   A species of the Myriapoda; esp. the large, flattened,
   venomous kinds of the order Chilopoda, found in tropical
   climates. they are many-jointed, and have a great number of
   feet. [Formerly also chi`lioi centiped (?).]
   [1913 Webster]

WordNet (r) 3.0 (2006):

centipede
    n 1: chiefly nocturnal predacious arthropod having a flattened
         body of 15 to 173 segments each with a pair of legs, the
         foremost pair being modified as prehensors

Moby Thesaurus II by Grady Ward, 1.0:

60 Moby Thesaurus words for "centipede":
   C, Chilopoda, Chordata, Echiuroidea, Ectoprocta, Entoprocta,
   Monoplacophora, Nemertinea, Phoronidea, arachnid, arthropod,
   beetle, bicentenary, bicentennial, bug, caterpillar, cental,
   centare, centenarian, centenary, centennial, centennium, centigram,
   centimeter, centistere, centred, centref, centrev, centumvir,
   centumvirate, centurion, century, chilopod, cwt, daddy longlegs,
   diplopod, fly, gross, harvestman, hecatomb, hexapod, hundred,
   hundredweight, insect, larva, long hundred, maggot, millepede,
   millipede, mite, nymph, one C, scorpion, sesquicentenary,
   sesquicentennial, spider, tarantula, tercentenary, tercentennial,
   tick