What describes the legs of all anthropods?

The name for phylum Arthropoda is derived from "jointed legs" or jointed feet, and arthropods live up to that name. Because of the rigidity of the exoskeleton, joints are apparent in any of their mobile appendages; not just legs but some specialized appendages like swimmerets for aquatic arthropods, antennae, wings, all evidence some kind of jointing. Legs themselves may have specialized adaptations; some insects hear or taste with special organs on the legs or feet. Some crustaceans have legs bearing claws (chela) called chelipeds.