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In page Onychophora:

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Velvet worms/Onychophora move in a slow and gradual motion that makes them difficult for prey to notice.[1] Their trunk is raised relatively high above the ground, and they walk with non-overlapping steps.[2] To move from place to place, the velvet worm crawls forward using its legs; unlike in arthropods, both legs of a pair are moved simultaneously. The claws of the feet are used only on hard, rough terrain where a firm grip is needed; on soft substrates, such as moss, the velvet worm walks on the foot cushions at the base of the claws.[citation needed]