They are all under the control of Diiva, and only the queen is in the form of a human.
Jinnai had the ability to talk to the Bagurom, and gave them some names:
Katsuo, Namihei, Masuo, Tara-chan, Ikura-chan, Wakame.
(Yes, those are the names of the characters in Sazae-san too.)
> El Hazard page
>> character page