CRAWLY by George Vastianos

CRAWLY - Caterpillar Robot

CRAWLY is a robotic caterpillar. The locomotion mathematical model of
this robot is based on a sinusoidal type of formula that makes it
capable to scrawl on a variety of different types of terrain. CRAWLY
robot is constructed by six small servos and is controlled through an
SSC II serial servo controller. The robot's 0,5Kgr body is divided in
seven segments and is 60cm long. Modifications in CRAWLY's locomotion
mathematical model can make its chassis capable to travel inside pipes
for telepresence access in earthquake affected buildings.

More info: www.vastianos.com