A words that stand for arms and legs but does not include tentacles?

We recently we assigned a biology project in which we have to categorize make-believe organisms into phyums that are...believe it or not, also make-believe. We create the phylums and catagorize the organisms into them, and in order to do so in the way I want to, I need to know if there is a word that include arms and legs, but does not include tentacles-so the word 'appendage' does not work.