Jointed legs (jointed appendages) are the defining characteristic of Arthropoda - the name itself means 'jointed feet'. While segmented bodies (C) and bilateral symmetry (D) are also features of arthropods, they are not unique to this phylum. Pseudocoelom (B) is found in Nematoda, not Arthropoda. The jointed appendages are the key diagnostic feature that distinguishes arthropods from other phyla.