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A leg is a limb that is used for standing, walking and running. It consists of several muscles, joints, and bones. Humans and bipedal animals have two legs, which connect the pelvis to the feet. Quadrupedal animals have four legs, two of which connect the feet to the pelvis, and two to the shoulder. The creature with the most legs is the Illacme plenipes millipede which can have up 750.