We have developed a variety of robots—most notably a snake robot and a hexapod—for maneuvering through spaces that conventional vehicles cannot. We pursue both basic research in machine design, controller, and planning for these devices,as well as applied research with specific applications, such as search and rescue training, power plant inspection, archeology and surgery, in mind. Recently, we have been using our robots to perform research in biology, using robots as a template for biological investigation.