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Canalipalpata, also known as bristle-footed annelids or fan-head worms, is an order of Polychaete worms, with 31 families in it including the tubeworms (Serpulidae), fanworms (Sabellidae) and a family of deep-sea worms associated with hydrothermal vents (Alvinellidae).

The Canalipalpata have no teeth or jaws. Most are filter-feeders. They have grooved palps which are covered in cilia. These cilia are used to transport food particles to the mouth. However, the cilia and groves have been lost in the Siboglinidae family.

Fossil Record
The earliest known member of the Canalipalpata is Terebellites franklini, which was found in the Clouds Rapids Formation of Newfoundland, and dates from the mid Cambrian (St David's series).

Use in Aquaria
Many species of Canalipalpata are very visually attractive. Fanworms and 'Christmas tree' worms (a type of serpulid) are recommended as species for beginners to keep in a marine aquarium.