Snake Robots have many degrees of freedom, which makes them extremely versatile and complex to control. This report presents a modular snake robot, its electronic architecture and control. Inspired by a biological snake, snake robot moves using cyclic motions called gaits. These cyclic motions directly control the snake robot’s internal degrees of freedom which causes net movement. A sinusoidal oscillator controls each mode of the robot with four parameters: amplitude, frequency, phase, and offset.