Robot snake

I am fascinated with snails, tortoises and snakes. Especially their ways of moving interest me.
Putting 16 Robotis Dynamixel servos in cascade allowed me to mimic a snake.
In the head of the snake is a Parallax Propeller controller which controls the 15 servos for the general movement and the servo for the head.
The robot can be controlled via a PS2 controller or can be put in a free movement mode avoiding obstacles thanks to a ultrasonic sensor in the nose.
It also features a moving tongue and eyes emitting green or red lights. Just for fun!