Cartoon Caterpillar
although it needs a lot of work… I think you’v’e got the characters down… which really is saying a lot…
LOL! good work…
Wow that’s creepy! 
I think you got a great start, it looks like you have a solid rig.
If it where me I would make the joints more pronounced in the legs real caterpillars have bones and ball and pivot joints in their legs just like humans do. I would take out the curves and replace them with a mesh and bones… And don’t use to many bones in the legs, maybe three at most…
Hope this helps…
Keep up the good work.