2) Locomotion: The robot locomotes through the use of two types
of motors. The first is the drive motor located at the rear of the snake
(Fig. 1). This motor transmits power to all upstream ribs to power a
series of “feet” on the bottom of the snake. The second type of motor
found on the robot is the articulation motor. Each motor segment contains
two such motors (Fig. 2). These are responsible for bending (articulating)
the segment on which they are located. These two motors
provide two degrees of motion per segment. The prototype snake fourteen
articulation motors.