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From The Collaborative International Dictionary of English v.0.48:
onychophoran \onychophoran\ n. Any of numerous velvety-skinned wormlike carnivorous animals common in tropical forests having characteristics of both arthropods and annelid worms; a member of the Onychophora, also called Malacopoda. See Malacopoda. Syn: velvet worm, peripatus. [WordNet 1.5 +PJC]