Ambulacraria Ambulacraria Ambulacraria or Coelomopora is a Superphylum of invertebrate phyla which includes echinoderms and hemichordates; a member of this group is called an ambulacrarian. Phylogenetic analysis suggest the echinoderms and hemichordates separated around 533 million years ago. The Ambulacraria are part of the deuterostomes, a larger clade that also includes the Chordata, Vetulicolia and Saccorhytus. The two living clades with representative organisms are: The group Xenoturbellida (two species of worm-like animals) has previously been considered to be in this clade, but is now considered to be placed more basally among Metazoans. Fossil taxa that may lie on the stem lineage:
Worm were one of three kingdoms, divided into the classes of Vermes, Insecta, Pisces, Amphibia, Aves, and Mammalia. Since then the last four have all been subsumed into a single phylum, the Chordata, while his Insecta (which included the crustaceans and arachnids) and Vermes have been renamed or broken up. The process was begun in 1793 by Lamarck, who called the Vermes "une espèce de chaos" (a sort of chaos) and split the group into three new phyla, worms, echinoderms, and polyps (which contained corals and jellyfish). By 1809, in his "Philosophie Zoologique", Lamarck had created 9 phyla apart from vertebrates