"Wiggly Wally" is a bio-inspired robotics project that draws from the unique locomotion of caterpillars, focusing on the design and experimental replication of their wave-like movements. The project delves into the kinematics and control mechanisms required to achieve rhythmic, undulating motion using a single actuator, allowing the robot to navigate different terrains with flexibility and simplicity. Through iterative experimentation, "Wiggly Wally" explores the potential of biomimetic movement, emphasizing how natural principles can inform innovative robotic design and control strategies.