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=jbBX5QE6ZFk
It 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_Library
and the github repository:
https://github.com/Obijuan/ArduSnake
obijuan
