Fig. 1.

(A and B) Lamprey and its biomimetic robot, Amphibot. Reproduced with permission from (A) © Can Stock Photo Inc./Arsty and (B) Biorobotics Laboratory, École Polytechnique Fédérale de Lausanne, Lausanne, Switzerland. (C and D) Sandfish lizard and its biomimetic robot that swim through granular media using body undulations. Reproduced with permission from Royal Society. (E and F) Rattlesnake sidewinder and a modular snake robot that exhibit maneuverability during turning by modulating the amplitude and phase of two orthogonal traveling waves along the body (3). Reproduced with permission from ref. 3. (G and H) Glass knifefish and a biomimetic robot with motorized fin that achieve fore–aft maneuverability and stability by partitioning the fin into two inward-counterpropagating waves. Reproduced with permission from ref. 7.