This is a 2 Dimensional Snake Robot that has flexible couplings between each joint so It can rest flat on the surface. There are 8 segments, made using 40mm x 40mm x 20mm metal gear High Torque servos
The is constructed from laser cut 4.7mm MDF (Medium Density Fiberboard) , press fit passive Skateboard Bearings 608zz 8mm x 22mm x 7mm. The same type used in fidget spinners.
The design is done in OpenSCAD and was inspired by Japanese woodworking styles, without screws, glue or fasteners with the exception of the RC Servo Hub.
https://github.com/johnsokol/OpenSCAD-misc-projects/tree/master/RCservo-snake
Laser cut pattern file in OpenSCAD.
The parts press fit over the servo. The Bottom left piece just press fits over the servo output and the only screws are the 3mm screws that hold part on to the servo. and the Ball Bearings just press fit over the end of the t on that part. heat shrink or tape should be placed on the ball bearing to increase friction with the surface.
When fed a sine wave it can propel across a surface with nothing driving the wheels directly.
Movement
Image from: Locomotion Efficiency Optimization of Biologically Inspired Snake Robots: Eleni Kelasidi, Mansoureh Jesmani , Kristin Y. Pettersen and Jan Tommy Gravdahl
