Ride-on land worm robot planning

Ad: Thanks to PCB Way for sponsoring this video: Worms locomote using a system of Peristalsis, or Peristaltic motion. This means that sections of their body expand and contract to push themselves along. There have been quite a few research projects for robots that move like this, and I previously built my own simple version which used four concertina mechanisms driven by servos to make four expanding and contracting sections. This didn’t work very well because as each section expands and contracts it also gets longer and shorter which pulls or pushes the other sections in and out either side, so with all of the sections doing this, getting it to be synchronised efficiently was quite difficult. Worms have little bristly hairs on them which act a bit like a ratchet to help them go forwards and not slips backwards, so ratchet wheels would probably have helped on my mechanical worm, But this time we’re going to try to make a more efficient design without putting wheels on it. T