Subject: Are 'thousand-leggers' really poisonous?

They are arthropods that live in the water system of NYC and probably other cities. I read 
that the word 'thousand legger' commonly refers to millipedes or centipedes, but I am not 
sure if this is either. of the two  They crawl out of the pipes and into sinks, bathtubs etc 
usually from the bottom draining pipe (not the faucet itself). I was wondering what they 
were and if they pose any actual risk to people as they are surrounded by a supersticious 
fear of the supposed deadliness of their venom. Thanks in advance for any help.

Re: Are 'thousand-leggers' really poisonous?