Echinoderm taxonomy

Eleutherozoa is a subphylum of echinoderms. They are mobile animals with the mouth directed towards the substrate. They usually have a madreporite, tube feet, and moveable spines of some sort. It includes all living echinoderms except for crinoids. The monophyly of Eleutherozoa has been proven sufficiently well to be considered "uncontroversial."

Pelmatozoa was once a clade of Phylum Echinodermata. It included stalked and sedentary echinoderms. The main class of Pelmatozoa were the Crinoidea which includes sea lily and feather star.