Squirmer (BEAM)

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In BEAM robotics, a squirmer is a stationary robot that performs an interesting action (usually by moving some sort of limbs or appendages).


  • Magbots: Utilize magnetic fields for their mode of animation.
  • Flagwavers: Move a display (or "flag") around at a certain frequency.
  • Heads: Pivot and follow some detectable phenonomena, such as a light (These are popular in the BEAM community. They can be stand-alone robots, but are more often incorporated into a larger robot.).
  • Vibrators: Use a small pager motor with an off-center weight to shake themselves about.


  • Seale, Eric, "Squirmers". The EncycloBEAMia, 2003.
  • Seale, Eric, "Heads". The EncycloBEAMia, 2003.