Ardusnake is an Arduino Library for generating easily the locomotion of modular snake robots or other modular robots. It is based on sinusoidal oscillators which drive the servos.Here you can see a video of the locomotion of a 2-module worm:www.youtube.com/watch?v=jbBX5QE6ZFkIt also work for longer worms or even snakes (I will add more information about it on the future)You can find more information, examples, tutorials, pictures, etc in this wiki:http://www.iearobotics.com/wiki/index.php?title=ArduSnake:_Arduino_Modular_Snake_Robots_Libraryand the github repository:https://github.com/Obijuan/ArduSnake1) Choose the modules for your modular robots. For example the repy 1.1 modules or their derivatives:http://www.thingiverse.com/thing:134422) Assembly the modules and build the robot3) You need an Arduino board or compatible. The skymega board is arduino compatible and has been designed to be screwed on the repy 1.1 modules:http://www.thingiverse.com/thing:141974) Use the ArduSnake library to move the robot