Inspired by the snake locomotion, modular snake robots have different locomotion capabilities by
coordinating their internal degrees of freedom. They have the potential to access restricted spaces where
humans cannot go. They can also traverse rough terrains while conventional wheeled and legged robots
cannot. Modular robots have other features including versatility, robustness, low-cost, and fast-prototyping.
We have built our first prototype that costs less than $200. In this paper, we describe the electronics
architecture of our prototyped robot, and present a model for the locomotion of pitch-yaw snake robots that
allows them to perform different gaits. Each mode of the robot is controlled by a sinusoidal oscillator with
four parameters: amplitude, frequency, phase, and offset. We show the parameters that achieve snake-like