Armadillos are members of the order Cingulata, which is part of the suborder, Xenarthra. Other orders apart of the Xenarthrans are Pilosa and Vermilingua. Animals that belong to the order Pilosa are the Three and Two toed Sloth. Animals that belong to the order Vermilingua are Anteaters.
Armadillos also fall under the subclass Theria, which includes Marsupials, so they are also related to Kangaroos and Opossum. The subclass Theria falls under the class Mammalia, which included every variety of mammal on the earth from naked mole rats to whales. So armadillos are even indirectly related to us humans.
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