Arthropoda: a jointed-foot invertebrate. 

Insects, crustaceans, millipedes, and centipedes are arthropods.

Arthropod comes from the Greek word ἄρθρον (arthron), meaning joint.  No, California, not that kind of joint.  Put your hand down.

The “poda” of the word comes from the Greek word for foot, πούς (pous), or ποδός (podos).

Incidentally, if “centipede” means “one hundred feet,” then, what do you call half of a centipede?