Legs can grow back on centipedes.
As they develop, centipedes moult. Every time they moult, they grow another set of legs naturally, so the older they get, the more legs they have. The fact that they can actually grow new legs after being amputated by predators is truly bizarre. Centipedes have the ability to detach some of their legs in order to escape from a predator's grasp. Then, when they moult, they simply regenerate their lost legs!