The Hirose Fukushima Robotics Lab created the acm-r5 based on the mechanics behind snakes. Powered by a lithium-ion battery, the ACM-R5 is a radio-controlled amphibious robot designed to move like its real world counterpart. It can slither or swim underwater for 30 minutes on a full charge. Inside, you’ll find an intricate sensor system (attitude/torque), small-sized camera, and a 32bit micro controller. While this robot seems more like a single object based robot it is made up of self-similar parts that work together to accomplish changing geometrical demands.
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