How is a millipede different from a centipede?

Millipedes are large, poisonous, and armored with a thick shell. They have dozens of legs as well. They usually are found in jungle environments.

Centipedes are small, non-poisonous, and defend themselves with stinging/biting. They also have many legs, and are found under rocks, bricks, etc. like you would find worms or slugs. They are found everywhere that contains moderate temperatures (US region).