Dance, robot, dance! Probably this is not the best robot dancer in the world, but these three legs move on the beat.
Unfortunately, this prototype is only one segment out of four that finally will form a worm-bot that moves just like a worm.
Besides the actuators, all the segments are 3D printed. The STL files are available here.
So if you would like to build a dancer robot, these three legs could be a good start.