After Parker, 1982

<==o Tardigrada  (karhukaiset; water bears)
   |--o Heterotardigrada
   |  |--o Arthrotardigrada
   |  |  |-- Halechiniscidae
   |  |  |-- Batillipedidae
   |  |  `-- Stygarctidae
   |  `--o Echiniscoidea
   |     |-- Oreellidae
   |     `-- Echiniscidae
   `--+--o Mesotardigrada
      |  `-- Thermozodiidae
      `--o Eutardigrada
         |-- Macrobiotidae
         `-- Milnesiidae

After ITIS

<==o Tardigrada (Spallanzani, 1777) (karhukaiset; water bears)
   |--o Heterotardigrada Marcus, 1927
   |  |--o Arthrotardigrada Marcus, 1927
   |  |  |--o Batillipedidae Ramazzotti, 1962
   |  |  |  `--o Batillipes Richters, 1909
   |  |  |--o Coronarctidae Renaud-Mornant, 1974
   |  |  |  |--o Coronarctus Renaud-Mornant, 1974
   |  |  |  `--o Trogloarctus Villora-Moreno, 1996
   |  |  |-- Halechiniscidae Thulin, 1928
   |  |  |--o Neostygarctidae  Grimaldi de, d’Addabbo Gallo  & Moreno de Lucia, 1987
   |  |  |  `--o Neostygarctus Grimaldi de, d’Addabbo  Gallo & Moreno de Lucia, 1982
   |  |  |--o Renaudarctidae  Kristensen & Higgings,  1984
   |  |  |  `--o Renaudarctus Kristensen &  Higgings, 1984
   |  |  `--o Stygarctidae  Schulz, 1951
   |  |     |--o Megastygarctinae  Bello & Grinmaldi de Zio, 1999
   |  |     |   `--o Megastygartides McKirdy,  Schmidt & McGinty-Bayly, 1976
   |  |     |--o Stygarctinae  Schulz, 1951
   |  |     |  |--o Mesostygarctus Renaud-Mornant, 1979
   |  |     |  |--o Parastygarctus Renaud-Debyser, 1965
   |  |     |  |--o Pseudostygarctus McKirdy,  Schmidt & McGinty-Bayly, 1976
   |  |     |  `--o Stygarctus Schulz, 1951
   |  |     `--o Neoarctinae  Grimaldi de, d’Addabbo Gallo & Moreno de Lucia, 1992 [= Neoartctidae Grimaldi de, d’Addabbo Gallo  & Moreno de Lucia, 1992]
   |  |         `--o Neoarctus Grimaldi de, d’Addabbo Gallo & Moreno de Lucia, 1992
   |  `--o Echiniscoidea Marcus, 1927
   |     |--o Carphaniidae  Binda & Kristensen, 1986
   |     |  `--o Carphania Binda, 1979
   |     |--o Echiniscidae Thulin, 1928
   |     |  |--o Antechiniscus Kristensen, 1987
   |     |  |--o Bryochoerus Marcus, 1936
   |     |  |--o Bryodelphax Thulin, 1928
   |     |  |--o Cornechiniscus Maucci & Ramazzotti, 1981
   |     |  |--o Echiniscus C.A.S. Schultze, 1840
   |     |  |--o Hypechiniscus Thulin, 1928
   |     |  |--o Mopsechiniscus Du Bois-reymond Marcus, 1944
   |     |  |--o Novechiniscus Kristensen, 1987
   |     |  |--o Parechiniscus Cuénot, 1926
   |     |  |--o Proechiniscus Kristensen, 1987
   |     |  |--o Pseudechiniscus Thulin, 1911
   |     |  `--o Testechiniscus Kristensen, 1987
   |     |--o Echiniscoididae Kristensen & Hallas, 1980
   |     |  |--o Anisonyches Pollock, 1975
   |     |  `--o Echiniscoides Plate, 1889
   |     `--o Oreellidae  Puglia, 1959
   |        `--o Oreella Murray, 1910
   `--+--o Mesotardigrada Rahm, 1937
      |  `--o Thermozidia Ramazzotti & Maucci, 1983
      |     `--o Thermozodiidae Rahm,  1937
      |        `--o Thermozodium Rahm, 1937
      `--o Eutardigrada Richters, 1926
         |--o Apopchela Schuster, Nelson, Grigarick & Christenberry, 1980
         |  `--o Milnesiidae Ramazzotti, 1962
         |     |--o Limmenius Horning, Schuster & Grigarick, 1978
         |     |--o Milnesioides Claxton, 1999
         |     `--o Milnesium Doyère, 1840
         `--o Parachela  Schuster, Nelson, Grigarick & Christenberry, 1980
            |?-o Beornidae Cooper, 1964 [? incl. in Hybsibiidae Pilato, 1969]
            |  `--o Beorn Cooper, 1964
            |--o Calohybsibiidae  Pilato,  1969
            |  |--o Calohypsibius Thulin, 1928
            |  |--o Haplohexapodibius Pilato & Beasley, 1987
            |  |--o Haplomacrobiotus May, 1948
            |  |--o Hexapodibius Pilato, 1969
            |  `--o Parhexapodibius Pilato, 1969
            |--o Eohypsibiidae  Bertolani & Kristensen, 1987
            |  |--o Amphibolus Bertolani, 1981
            |  `--o Eohypsibius Kristensen, 1982
            |-- Hybsibiidae Pilato, 1969
            |--o Macrobiotidae Thulin, 1928
            |  |--o Macrobiotinae Guidetti, Rebecchi & Bertolani, 2000
            |  |  |--o Adorybiotus Maucci & Ramzzotti, 1981
            |  |  |--o Biserovus Guidetti & Pilato, 2003
            |  |  |--o Calcarobiotus Dastych, 1993
            |  |  |--o Famelobiotus Pilato, Binda & Lisi, 2004
            |  |  |--o Insuetifurca Guidetti & Pilato, 2003
            |  |  |--o Macrobiotus Schultze, 1834
            |  |  |--o Minibiotus Schuster, 1980
            |  |  |--o Minilentus Guidetti & Pilato, 2003
            |  |  |--o Pseudodiphascon Ramazzotti, 1965
            |  |  |--o Pseudohexapodibius Bertolani & Biserov, 1996
            |  |  |--o Richtersius Pilato & Binda, 1990
            |  |  `--o Xerobiotus Bertolani & Biserov,  1996
            |  `--o Murrayinae Guidetti, Rebecchi & Bertolani, 2000
            |     |--o Dactylobiotus Schuster, 1980
            |     |--o Macroversum Pilato & Catanzaro, 1988
            |     `--o Murrayon Bertolani & Pilato, 1989
            |--o Microhybsibiidae  Pilato, 1998
            |  |--o Fractonotus Pilato, 1998
            |  `--o Microhypsibius Thulin, 1928
            `--o Necopinatidae Ramazzotti & Maucci, 1983
               |--o Apodibius Dastych, 1983
               `--o Necopinatum Pilato, 1971

Reference(s):

 

Special thanks to:

Jos Dos, for gathering information about the species and genera.