Centaur is a monster with a long history in Western mythology and a regular guest in medieval art. It has a human upper body, and from the waist down is the trunk and limbs of a horse. It is said to be the product of Ixion and Yun, king of texari. It is famous for being good at archery. In many Greek myths, the horse man is a symbol of wildness.

Legend has it that when pilithus, king of Lapiths, was getting married, a group of invited horsemen tried to take away the bride and the female guests at the wedding. King pilitous and his friend Theseus led the crowd to catch up and finally defeated the horse people. This is the famous "horse man war".

Source: @kingyofcompo