Table 1.

Selected papers detailing the synthetic (S) or organic (O) components of devices incorporating biological components in the previously described categories: Structure (Str.), Actuation (Act.), Sensing (Sens.), Control (Con.). Relevant metrics for the devices are reported as available: velocity in body lengths (BL)/s for locomoting device and success rate (S.R.). Where success rate is the percentage of total trials in which the devices successfully accomplished the locomotion task tested (e.g. following a line of a certain length). Asterisks indicate inclusion of the reported device in allometric scaling analysis (See Section 4).

Paper	Year	Str.	Act.	Sens.	Con.	Body Length (BL)	Vel. (BL/s)	S.R. %
Kuwana (50)	1995	S	S	O	S
Beer (149)	1998	S	S	S	S
Webb (150)	2001	S	S	S	S
Herr (46)*	2004	S	O	-	S	120 cm	0.33
Xi (24) *	2005	S	O	-	-	138 μm	0.27
Kim (151)	2006	S	O	-	-
Feinberg (27) *	2007	S	O	-	-	3–6 mm	0.008–0.045
Kim (25) *	2007	S	O	-	-	2.5 mm	0.034
Sato (108, 109)	2010	S/O	O	O	S/O			56
Takemura (19)	2010	O	O	-	-	2 mm	0.003
Warwick (152)	2010	S	S	S	S/O			46
Hayashi (80)	2011	S	S	S	S/O			80
Chan (26) *	2012	S	O	-	-	7 mm	0.033
Kim (98) *	2012	S/O	S	O	O	10–20 μm	0.13–0.329
Latif (112)	2012	S/O	O	O	S/O			10
Nawroth (32) *	2012	S	O	-	-	2 mm	0.4–0.7
Zhu (114) *	2012	S/O	O	O	S/O	380 ± 20 mm	0.046
Magdanz (107) *	2013	S/O	S/O	-	S	300 μm	0.016–0.033
Cvetkovic (45) *	2014	S	O	-	-	6 mm	0.026
Ijspeert (153)	2014	S	S	S	S
Martinez (66)	2014	S	S	O	S			96
Park (99)	2014	S/O	O	O	O			80
Williams (31) *	2014	S	O	-	-	2 mm	0.005
Barroso (100) *	2015	S/O	O	O	O	2 um	3.5
Huang (63)	2015	S	S	O	S/O			42
Sanchez (111)	2015	S/O	O	O	S/O			70
Holley (28) *	2016	S/O	O	-	-	9.2 mm	0.015
Li (97)	2016	S/O	O	O	S/O			89.5
Park (33) *	2016	S	O	O	S	14 mm	0.23
Webster (21) *	2016	O	O	-	-	4 mm	0.003
Webster (48) *	2016	S/O	O	-	-	4 cm	0.003