This was one of the early side-projects myself and Matt undertook while we were developing the control library for the humanoid. The snake was used to test large scale software on the 19 separate processors (1 x ATmega128 in the CM5 and 18 x ATmega8 in the AX12 servos). This snake was later replaced with a quadruped which Matt is still (separately) developing and is working on PS2-remote-control.