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posted Apr 24, 2012, 10:40 PM by Gabriella Levine
"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."

This is an amazing open source library, as well as links to many other parts of the projec, including 3d designs and electronic schematics, for a library that comprises the following layers of control, for the propagation of a wave down a line of servos, where the applications include oscillators, worm motion in 1 dimension, and snake-like motion in 2D.