Snake Robots S1 to S5 1992 to 1999

Dr. Gavin Miller created a series of experimental snake robots to mirror his research into computer graphics techniques. The first prototype S0, of which no footage exists, was first shown at SIGGRAPH in 1988. This video showcases S1 to S5. S1 and S2 use one degree of freedom per joint. S3 introduced a new arrangement of two servos with a universal joint to simulate biological snakes more accurately. S3 was the first snake robot to slither and sidewind, and also was the ring-bearer at Dr. Miller's wedding. S5 was a larger version of S3 with almost twice the number of joints. It is on display at the International Spy Museum in Washington DC. For more information see www.snakerobots.com.