Well, the truth is, I'm trying to figure out the answer for that question myself. Some names that have crossed my mind are Eartha, Teresa, Crick (which means crooked), Parsley (a type of leaf that black swallowtail caterpillars eat), or Skype (I just think it's an interesting name).
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Caterpillars are the larval stage of butterfly's and moths so another name is 'Larva'
Butterfly larvae.
They are called caterpillars.
If you name a caterpillar it should be named something that shows what it is. I named my caterpillar "Blueberry" because it is blue. i hope i have helped you!