The problem that I was working on was trying to create a robot to successfully demonstrate rectilinear snake motion, try to create the quickest gait possible for the robot, and then work to create a modular robot. We were currently without a model that has no external constraints to test gaits on. Creation of the modular robot was being used to determine the effects of injection molding on robotic components and to see the effects that they would have on such parts. This would also help in the long term goal of creating a fully modular robotic snake. In accomplishing these goals I would need to create two separate robots. The first being a simple robot that would demonstrate rectilinear motion, the second robot would be modular and made from the injection molding. The two robots would have nothing to do with each other.