Editing Onychophora (section)

===Lobopods===
[[File:Euperipatoides claw pair.tif|thumb|A pair of claws from ''[[Euperipatoides kanangrensis]]''|260x260px]]
The stub feet that characterise the velvet worms are [[cone (geometry)|conical]], baggy appendages of the body, which are internally hollow and have no joints. Although the number of feet can vary considerably between species, their structure is basically very similar. [[Hydrostatic skeleton|Rigidity is provided]] by the [[hydrostatic pressure]] of their [[fluid]] contents, and movement is usually obtained passively by stretching and contraction of the animal's entire body. However, each leg can also be shortened and bent by internal [[muscle]]s.<ref name="Boudreaux">{{Cite book | title = Arthropoda phylogeny with special reference to insects | last = Boudreaux | first = H. Bruce | url = https://archive.org/details/arthropodphyloge0000boud | year = 1979| publisher = Wiley | isbn = 9780471042907 }}</ref> Due to the lack of joints, this bending can take place at any point along the sides of the leg. In some species, two different organs are found within the feet:

*Crural glands are situated at the shoulder of the legs, extending into the body cavity. They open outwards at the crural papillae—small wart-like bumps on the belly side of the leg—and secrete chemical messenger materials called [[pheromone]]s. Their name comes from the [[Latin]] ''cruralis'' meaning "of the legs".<ref>{{cite web |url=https://www.latin-is-simple.com/en/vocabulary/adjective/3204/ |title=cruralis/crurale, cruralis M |work=Latin is Simple |publisher=Peter Waldert |access-date=2021-02-21 }}</ref>
*Coxal vesicles are pouches located on the belly side of the leg, which can be everted and probably serve in water absorption. They belong to the family Peripatidae and are named from {{lang|la|coxa}}, the Latin word for "hip".<ref>{{cite web |url=https://www.latin-is-simple.com/en/vocabulary/noun/7204/?h=coxa |title=Cox, coxae, [f]|work=Latin is Simple |publisher=Peter Waldert |access-date=2021-02-21 }}</ref>
On each foot is a pair of retractable, hardened (sclerotised) [[chitin]] claws, which give the taxon its scientific name: Onychophora is derived from the {{langx|grc|ονυχής}}, {{transliteration|grc|onyches}}, "claws"; and {{lang|grc|φέρειν}}, {{transliteration|grc|pherein}}, "to carry". At the base of the claws are three to six spiny "cushions" on which the leg sits in its resting position and on which the animal walks over smooth substrates. The claws are used mainly to gain a firm foothold on uneven terrain. Each claw is composed of three stacked elements, like [[Russian nesting doll]]s. The outermost is shed during ecdysis, which exposes the next element, which is fully formed and so does not need time to harden before it is used.<ref name="doi10.1038/nature13576">{{cite journal |first1=Martin R. |last1=Smith |first2=Javier |last2=Ortega-Hernández |date=October 2014 |title=''Hallucigenia''<nowiki/>'s onychophoran-like claws and the case for Tactopoda |journal=Nature |volume=514 |issue=7522 |pages=363–6 |pmid=25132546 |doi=10.1038/nature13576|bibcode=2014Natur.514..363S |s2cid=205239797 |url=http://dro.dur.ac.uk/19108/1/19108.pdf |archive-url=https://ghostarchive.org/archive/20221010/http://dro.dur.ac.uk/19108/1/19108.pdf |archive-date=2022-10-10 |url-status=live }}</ref> This distinctive construction identifies many early Cambrian fossils as early offshoots of the onychophoran lineage.<ref name="doi10.1038/nature13576" />