In 1980, the American biologist Richard L. Hoffman published a classification of millipedes which recognized the Penicillata, Pentazonia, and Helminthomorpha, and the first phylogenetic analysis of millipede orders using modern cladistic methods was published in 1984 by Henrik Enghoff of Denmark.
En 1980, o biólogo americano Richard L. Hoffman publicou unha clasificación dos milpés que recoñeceu aos Penicillata, Pentazonia e Helminthomorpha, e a primeira análise filoxenética das ordes de milpés usando modernos métodos cladísticos publicouna en 1984 Henrik Enghoff en Dinamarca.