The Scolopendromorpha, also known as tropical centipedes and bark centipedes, are an order of centipedes whose members are epimorphic and usually possess 21 or 23 trunk segments with the same number of paired legs. The number of leg pairs is fixed at 21 for most species in this order and fixed at 23 for the remaining species, except for two species with intraspecific variation: Scolopendropsis bahiensis, which has 21 or 23 leg pairs, and S. duplicata, which has 39 or 43 leg pairs. Species in this order have antennae with 17 or more segments. The order comprises the five families Cryptopidae, Scolopendridae, Mimopidae, Scolopocryptopidae, and Plutoniumidae. Nearly all species in the family Scolopendridae have four ocelli on each side of the head, and the genus Mimops features a pale area often considered an ocellus on each side of the head, whereas the other three families are blind. Species in the family Scolopocryptopidae have 23 leg-bearing segments, whereas species in all other families in this order have only 21 leg-bearing segments. The only 3 known amphibious centipedes, Scolopendra cataracta, Scolopendra paradoxa and Scolopendra alcyona belong to this order.

Centipedes are predatory arthropods belonging to the class Chilopoda of the subphylum Myriapoda, an arthropod group which includes millipedes and other multi-legged animals. Centipedes are elongated segmented (metameric) creatures with one pair of legs per body segment. All centipedes are venomous and can inflict painful stings, injecting their venom through pincer-like appendages known as forcipules or toxicognaths, which are actually modified legs instead of fangs. Despite the name, no centipede has exactly 100 pairs of legs; the number of pairs of legs is an odd number that ranges from 15 pairs to 191 pairs.