It discovers what is going on around it by using the feelers on its head and tail. It is brutally aggressive.
(From Bulbapedia)Venipede is an insectoid Pokémon with a pronounced hump on the upper portion of its body. Its thorax and head are mainly magenta with black markings that consist of rings on its shoulders, a band around each antenna, and an upside-down 'Y' on its neck. A prominent ridge leading down to a pointed tip splits the top half of its head, and its lower jaw is black. It has round, heavy-lidded eyes that bulge away from the head slightly. Venipede’s dark green abdomen is segmented, and it has four pairs of stubby black legs. Two short feelers banded with black extend from its hindquarters, which it uses in addition to its antennae to explore its surroundings and detect prey by sensing air vibrations. Venipede is brutally aggressive, and its bite injects a poison strong enough to paralyze large bird Pokémon.
(From Bulbapedia)Venipede, like its category states, is based on a centipede. However, it is more similar in appearance to an arthropod such as a woodlouse, pill bug or pill millipede. More specifically, it was most likely based on a green Glomeris marginata.
(From Bulbapedia)Venipede is a combination of venom and centipede or millipede.