I played with this for a while and believe I improved worm motion by doing the following:
1. Put one way velocity code in every third segment.
2. Set friction = 0.1 in every third segment.
3. Set all other segments friction = 0.0.
4. Added springs between the centers of all adjacent segments.
5. Set the spring length to 0 and the constant to 20.
I rated your scene highly because, after examining it extensively, I understand the thought and effort that went into making it. I will add a response scene because I just can't help myself. Hope you are OK with it.
Thanks for the link Xray. I've always thought earthworms were impressive. I got reprimanded in school once when I was asked to write about my favorite animal and wrote about earthworms. The teacher thought I was just being a wise guy.
I think those chains are used on car Continuously Variable Transmissions (CVT). If you sharpened the flights you could make a CVPCS (continuously variable pitch chain saw) that could change the chain force depending on load while maintaining a near constant torque on the motor.