The story
From velvet + worm. Named after their velvety skin texture and worm-like appearance.
Etymology from Wiktionary, CC BY-SA 4.0.
velvet worm
Today it means: Any of the phylum Onychophora of wormlike invertebrates, characterized by velvety skin texture, numerous stubby legs, and the ability to eject sticky slime to capture prey. Full definition →