From ZooTerms (Dictionary of Invertebrate Zoology)
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palpus also palp, (noun; plural palpi; Latin palpus, feeler): 1. (Annelida) a. In Oligochaeta, one of a pair of elongate projections on the anal segment. b. In Polychaeta, one of a pair of projections on the sides of the head.

2. (Arthropoda: Chelicerata) a. In Arachnida, the segmented appendage of the pedipalp, excluding coxa and endite; simple in female, a reproductive organ in males. b. In Acari, paired appendage of segment 2, sensory in function; maybe up to 6 segments long.

3. (Arthropoda: Crustacea) In Cirripedia, oval, setose mandibular endopod attached to the mandible or to the lateral margin of the labium.

4. (Arthropoda: Insecta) A telopodite of the gnathal appendage

See also: maxillary palp, labial palp