I was able to figure this one out - the requirements being:
Spline-based 'worm' animated with Displacer deformer
Cloner 'legs' running along the spine of the worm - the 'legs' need to stick to the normal direction of the worm-segments as it wiggles
'worm' body needs to have a consistent round cross-section and rounded caps at each end.
@noseman 's great Edge To Spline plugin (free!) opens up some options. Many thanks @noseman !!!
