[eli5] Why do insects have lots of legs while larger animals have 4 or 2? Also, why aren’t there any animals (that I know of) with 3 legs?

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[eli5] Why do insects have lots of legs while larger animals have 4 or 2? Also, why aren’t there any animals (that I know of) with 3 legs?

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It must not have been evolutionarily useful; although I have seen a couple of dogs with 3 legs
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