Building fully flexible tail (several joints) with minimal actuation required

[sanddrag]

I'm looking to build something similar to the tail of an animal. I would like to have as many joints as possible (think piece of roller chain turned up on it's side) to get a semi free-flowing motion out of it. Here's the catch: I can only use one or two hydraulic cylinders (and any assortment of linkages or cables) to actuate it. If possible, I'd like to get a free flowing motion similar to a snake.

For now, let's say this thing only has to move in the horizontal plane, and only needs to be able to go from straight, to curved in one direction. Let's say it does not need to swing the other way.

I'd just trying to get conceptual ideas if there is any way to do this. If knowing the size helps, hold on to your armrests. I'm looking at a total of approximately 8 feet long give or take a couple.

Any ideas are welcome, as long as they are explained so I can understand. Thanks in advance.