Etymology
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inchworm (n.)

also inch-worm, 1844, American English, from inch (v.) + worm (n.). Other old names for it included loaper caterpiller, measuring worm, and surveyor. All are from its mode of progress.

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Definitions of inchworm

inchworm (n.)
small hairless caterpillar having legs on only its front and rear segments; mostly larvae of moths of the family Geometridae;
Synonyms: measuring worm / looper
From wordnet.princeton.edu