Here's a video of my hacked Inchworm cruising along upside down, suspended from some nylon string:
But how does the inchworm normally work? This article has a general overview, and the video below is a good example of normal operation.
Step 1: Parts: Rubber band, coat hanger
Get a metal coathangar, and cut two pieces about 10" long. Ben them into Ws as show. Make the outside arms of the W about 2 inches long, and the inside arms ( the upside down V part) about 3 inches long. When you suspend your inchworm from the string, this will position the string right between the bottom of the inchworm's two feet.
Step 2: Attach coathanger Ws
Make sure the tines of your W stick close to the inchworm's legs, so that the edges of the legs keep them trapped and stiff.
Step 3: Wrap your rubber band around the inchworm's foot
Step 4: Walk the wire!
You'll notice pretty quickly that if you rotate the foot with the remote, it will increase the tension of the rubber band and snag, so you have to be careful to only tell your inchworm to go forward and backward (Although, if your rubber band is too big, this might be a good way to increase the tension a little. See what works best for you!)