Abstract: Based on the structure and rhythmic movement of both biological snake and snake-like robot, music theory is adopted as a control method to study on a snake-like robot. And the relationship among the rules and symbols of musical theory as well as the snake-like robot control process is then defined. Thus the serpentine movement is melodized. The serpentine music is utilized to control "Perambulator-Ⅰ" snake-like robot. Finally the aspects of future research are discussed.