You're on the right track. This is an excellent source for synonyms and antonyms:
http://www.thesaurus.com
I have write an Antonym and Synonym for each word. Nouns
1. biped---quadruped, person
2. centipede---millipede, worm
3. millipede---unipede, creepy-crawly
4. pedal---foot iever (couldn't find an antonym)
5. pedicure--manicure, beauty treatment
6. quadruped--biped, tetrapod
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