Xenusia

Hallucigenia is a genus of lobopodian known from Cambrian-aged fossils in Burgess Shale-type deposits in Canada (Burgess Shale) and China, and from isolated spines around the world. The generic name reflects the type species' unusual appearance and eccentric history of study; when it was erected as a genus, H. sparsa was reconstructed as an enigmatic animal upside down and back to front. Lobopodians are a grade of Paleozoic panarthropods from which the velvet worms, water bears, and arthropods arose.

Aysheaia is an extinct genus of soft-bodied lobopodian, known from the Middle Cambrian Burgess Shale of British Columbia, Canada.

Xenusion auerswaldae is an early lobopodian known from three specimens found in glacial erratics on the Baltic coast of Germany. Another specimen, discovered shortly after the holotype, was briefly observed but soon went missing. Except for this lost specimen, the fossils probably originated in the Kalmarsund Sandstone of Southern Sweden, which was deposited in the Lower Cambrian (Upper Tommotian–Lower Atdabanian; Stages 2→3). It is the oldest currently known lobopodian with soft body fossils.

Diania is an extinct genus of lobopodian panarthropod found in the Lower Cambrian Maotianshan shale of China, represented by a single species - D. cactiformis. Known during its investigation by the nickname "walking cactus", this organism belongs to a group known as the armoured lobopodians, and has a simple worm-like body with robust, spiny legs. Initially, the legs were thought to have a jointed exoskeleton and Diania was suggested to be evolutionarily close to early arthropods, but many later studies have rejected this interpretation.

thumb|left|Restoration of Onychodictyon ferox Onychodictyon is a genus of extinct lobopodian known from the Lower Cambrian Chengjiang Maotianshan Shales in the Yunnan Province in China. It was characterized by a stout body covered by fleshy papillae and pairs of sclerotized plates with spines, representing part of the diverse "armoured lobopodians" alongside similar forms such as Microdictyon and Hallucigenia.

left|thumb|Life restoration Paucipodia inermis is a lobopod known from the Lower Cambrian Chengjiang lagerstätte.

Siberion is an extinct genus of lobopodian from the Sinsk biota of Russia. Its anatomy, including the proboscis-like organ projecting from the face and prominent grasping first pair of appendages, suggests that xenusians like this organism may have been phylogenetically related to anomalocaridids, like Anomalocaris. Only two incomplete specimens are known, and the probability of finding more is low, as the Sinsk Algal Lens has been nearly destroyed by commercial fossil collectors.