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Possibly segmented worms. Primitive arthropods include centi- and millipedes, with many unspecialized legs (legs in more advanced arthropods often specialized to form antennae, mandibles and pedipalps), and they're as long and thin as segmented worms. Also, there's a possible 'intermediate form', Peripatus, the velvet worm, being long, thin and soft-skinned, but also having many stubby legs!

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Q: What are the closest ancestors to the arthropod?
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