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