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onisciform

onisciform, a. Zool.
  (əʊˈnɪsɪfɔːm)
  [f. L. oniscus wood-louse: see -form.]
  Having the form of a wood-louse or of the genus Oniscus; applied to certain Myriapoda, and to the larvæ of certain Lepidoptera.

1826 Kirby & Sp. Entomol. III. xxx. 185 An onisciform one [larva], the legs of which..are covered with a viscid skin; this produced a Noctua. 1843 Humphreys Brit. Moths I. 81 The caterpillar is onisciform, naked, and green.

Oxford English Dictionary

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