The Hirose Fukushima Robotics lab developed an amphibious snake-like robot named "ACM-R5" that can maneuver both on ground and in water surging its long body. It can form a smooth shape due to this joint composition, and it is essential for efficient locomotion. The ACM-R5 is set with paddles and passive wheels around the body to attain that nature both in water and on ground.

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