Despite the name "centipede" which means "hundred foot" in Latin, the Vietnamese centipede has about half of that.  It has 21 long, flat body segments with a pair of antennae and jaw-like mandibles, and other mouth parts that evolved from modified legs.  The antennae are easily recognizable and the poisonous jaws are located directly under the head.  The jaws are made of a venom glad, venom duct, injecting curved jaw, and very powerful muscles.  Its hind legs are nonvenomous but have great strength to grasp and hold onto prey.  The average Vietnamese centipede will reach a body length of 6-8 inches over a lifespan of roughly 10 years and molt (shed exoskeleton) once a year.

Vietnamese Centipede
                  Image from: Utah's Hogle Zoo