I learned that house centipedes can, in fact, regrow their legs.
This is a relief to me, as last night when I was closing the shades before bed, I noticed a huge house centipede run down the shade. I thought, I'm not going to be able to get any sleep in here with this thing, so I took a disposable cup and a paper towel, knocked him into it, and tried to take him outside. He jumped out many times, and I had to find him again and recapture him. Eventually I just slid the cup, and the centipede, across the floor to the door where I scooped him up and tossed him outside. But I noticed that during this, several of his legs came off and were still twitching.
As it turns out though, they can regrow their legs, and sometimes shed them when they feel threatened, which is probably what happened.
I hope he's OK...just not in the house.