
Onychophora, commonly known as velvet worms or more ambiguously as peripatus, is a phylum of elongate, soft-bodied, many-legged panarthropods. In appearance they have variously been compared to worms with legs, caterpillars, and slugs. They prey upon smaller animals such as insects, which they catch by squirting an adhesive slime.

Eoperipatus is a Southeast Asian genus of velvet worm in the family Peripatidae.

Eoperipatus totoro is a species of velvet worm of the family Peripatidae.

Euonychophora is an order of Onychophora representing all living onychophorans; the Peripatidae and Peripatopsidae. Their feet possess a pair of claws and a pad, and are covered with pustules. All remaining onychophorans are fossil species in the order Ontonychophora.

Euperipatoides is a genus of velvet worms in the family Peripatopsidae. All species are found in New South Wales, Australia. E. rowelli is also found in the Australian Capital Territory.

Euperipatoides kanangrensis is a species of velvet worm of the Peripatopsidae family, described in 1996 from specimens collected in Kanangra-Boyd National Park, New South Wales. It is endemic to Australia. The embryonic development of Euperipatoides kanangrensis has been described. This species is used as model organism for the last common ancestor of the Panarthropoda. It resembles fossil Cambrian lobopodians.

Euperipatoides rowelli is an ovoviviparous species of velvet worm of the Peripatopsidae family. It is found in New South Wales and the Australian Capital Territory.

Ooperipatellus nanus is a species of velvet worm in the Peripatopsidae family. This species is endemic to New Zealand and is found in the South Island.

Oroperipatus is a genus of Neotropical velvet worms in the family Peripatidae.

Peripatidae is a family of velvet worms. The oldest putative representatives of the family herald from Burmese amber dated to the mid-Cretaceous, around 100 Ma, with representatives from Dominican and Baltic amber attesting to a broader distribution in the Palaeogene / Neogene; molecular variability suggests that the family's crown group may have arisen in the early Mesozoic.

Peripatoides is a genus of velvet worms in the Peripatopsidae family. These animals are nocturnal hunters that spit glue to trap their prey. In New Zealand species of Peripatoides have 14, 15 or 16 pairs of legs. Female Peripatoides produce eggs that are fertilized internally and babies develop inside their mother until large enough to be born, in batches of 4-6, as colourless miniatures of the parents.

Peripatoides indigo is a velvet worm of the family Peripatopsidae. The Māori name for the velvet worm is ngaokeoke, from the Māori word 'ngaoki', to crawl.

Peripatopsidae is one of the two living velvet worm families.
Peripatopsis is a genus of South African velvet worms in the Peripatopsidae family.
Peripatopsis capensis is a species of velvet worm in the Peripatopsidae family. The type locality is in South Africa.

Peripatus is a genus of velvet worms in the Peripatidae family. The name "peripatus" is also used to refer to the Onychophora as a whole, although this group comprises many other genera besides Peripatus. The genus Peripatus is found in Central America, the Caribbean and northern South America.

Peripatus juliformis is a species of velvet worm in the Peripatidae family. The type locality is in Saint Vincent Island. This species became the first velvet worm known to science when Guilding described it in 1826.

Tasmanipatus is a genus of velvet worms in the Peripatopsidae family. They are endemic to Tasmania, Australia.

The blind velvet worm is a species of velvet worm in the family Peripatopsidae. The species is listed as Endangered on the IUCN Red List.

Typhloperipatus is a genus of velvet worm of the Peripatidae family, containing the sole species Typhloperipatus williamsoni.

Onychophora, commonly known as velvet worms or more ambiguously as peripatus, is a phylum of elongate, soft-bodied, many-legged panarthropods. In appearance they have variously been compared to worms with legs, caterpillars, and slugs. They prey upon smaller animals such as insects, which they catch by squirting an adhesive slime.