Arthropods have been on Earth for more than 540 million years, and were diverse almost from the beginning. Different lineages of arthropods, such as crustaceans, diverged as early as 525 million years ago. The evolution of an external body covering (the exoskeleton), and the presence of body segments and paired appendages (mouthparts, legs, claws, antennae) signaled the transition from early worm-like precursors to arthropods. While modern arthropods live in nearly every habitat, the earliest arthropods were probably tiny, bottom-dwellers scavenging detritus at the bottom of warm seas. The enormous success of arthropods is at least partly due to their appendages. Located on all body regions, their appendages became specialized especially for feeding through the mouthparts, but also for getting oxygen through respiration (gills), reproducing (elaborate external genitalia), and moving around including walking, swimming, and/or flying. The gradual adoption of a modular body plan with multifunctional appendages has allowed arthropods to thrive in an impressive variety of environments.