Velvet worm
Fossils from the early Cambrian bear a striking resemblance to the velvet worms. These fossils, known as the lobopods, were marine. They were a clade from which arthropods, tardigrades, and Onychophora arose.<ref name="Cite doi|10.1038/nature13576">{{Cite journal | doi = 10.1038/nature13576 | pmid = 25132546 | journal = Nature | volume = 514 | issue = 7522 | pages = 363–366 | last = Smith M.R. & Ortega Hernández J. 2014 | title = Hallucigenia'''s onychophoran-like claws and the case for Tactopoda | year = 2014 | bibcode = 2014Natur.514..363S | s2cid = 205239797 | url = http://rdcu.be/bKoD }}</ref> They are found in the Cambrian, Ordovician (possibly), Silurian, and Pennsylvanian periods.