I started by plotting out the Joints as you normally do and then joined a CV curve onto them as a foundation for the later movements.
Cluster's were used to make it easier to grab hold of the Curve's vertices and then nurbs circle's were used for the main controls.
An example of how the rig moves.
Final shots of the Model and its controls, how the worm moves and a video showing the Model moving in a unrealistic way just to show how it moves.
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