Another crawly caterpillar

I absolutely fell in love with this one. I found it whilst gardening and did think it was a twig at first, but it kept moving in a funny way!
I kept playing with it and was dying to show it to someone because I didn't really know what it was. It seems - from a bit of research - that he's some kind of moth caterpillar but I can't find out what it's called.

Anyone know?

I keep worrying the birds are going to get him so I kept moving him around the garden; he doesn't seem to mind me though, kept walking around my hand but feels almost prickly his feet are so clingy!