The whole sentence of "a hundred-footed insect dies without being stiff" should mean that a hundred-footed insect will not fall down even if it dies. Metaphor means that although someone or a group has lost power, they still have some momentum and energy. The part of speech of millipede is derogatory, and millipede refers to centipede. Scolopes, scorpions, snakes and other things that are poisonous or have a bad image usually imply evil and insidious things, such as the hearts of snakes and scorpions.