First of all draw the head, then a scale. Easier to draw moustaches, thin lines designate contours, then only start tracing their structure. Then we draw part of a muzzle.

To draw a body of the scolopendra, for convenience draw a body trajectory, further a body. All this is hardly noticeable.

We trace scales.

We draw feelers.

We draw feet.

We draw feet a body.

This is the huge scolopendra, still can outline shadows for bigger realness.

Look still a walrus, a cancer, Maynkraft, Angry Birds.