I made a few tweaks to the caterpillar animation. I fixed the vertex weights (couldn't see it in the vector version but it was ugly in the viewpanel), adjusted the timing, and added more jiggling stuff.
--> Tweaked caterpillar (.swf file because it's nice and small)
And, just for the k-man, here's a version with a ground plane.
--> Caterpillar walking on a wireframe ground (.mov file because the .swf lags a lot)