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Mistress Centipede (百足上﨟)She was a demon that is first encountered by Kagome in the modern world when she was looking for her cat Buyo. The demon emerged from the well in the Higurashi family shrine and pulled her in, transporting her to the Feudal Era. She was the first Youkai that Kagome encountered from the Feudal Era.
(Source: InuYasha Wikia)