Very cool. We're planning a faire in Zürich and would love to have you there. Please contact me tamberg@yaler.net or watch out for the Call for Makers on the Fablab Zürich Newsletter.

my first try:

:) I guess you meant speed.  Actually, worms don't move very fast. Friction is not the problem in the current case. I could use more powerfull actuator. I did slow down the servos by intention. The overall agility is also very limited. But this is my second prototype. Don't know if there will be a third approach. 

Very neat! I like the 3D printed linear actuators that fit overtop of the servos as well.  Does the wormbot get a bit more speech when it's on a surface with a bit more friction?