When you say gate you mean gait?
Don't know what you mean by graphics intensive, or more efficient
(computationally or how fast the worm moves). You really haven't
stated enough information for anybody to be any help to you. Try
spelling gait correctly and look at the *tons* of literature on google
scholar. My first hit for "gait inchworm" was:-
Locomotive gait generation for inchworm-like robots using finite state approach
which involves only integer arithmetic and real-time performance. If
thats not what you want then read its bibliography.