Articulated locomoting robots are the center of ongoing research project in the Robotics Institute Biorobotics lab. We call our robots Modsnakes because they have a modular, i.e. repeating, structure of the same element. Each module has a single rotational degree of freedom and when chained together, form the snake robot. By controlling the position of each module the robots can locomote over terrain and interact with their environment in ways more conventional robots cannot. This includes climbing the inside and outside of pipes.