As posted in this
thread here is a link to some video of our 2007 Worm Drive Prototype driving around on its first run. It has some good close up shots of the modules near the end and some entertaining commentary.
http://youtube.com/watch?v=rfAdy3tUx2s
On the final bot the modules have changed a little and the steering/control is a lot more refined now, but the concept is the same.
Ricky