In the field of robot development, nowadays, bio-inspired solutions are on the ascendancy. This is due to many reasons, but we can mainly summarise them through the ideal of pursuing an engineering ‘leitmotif’: improving performance and overcome current technologies. In fact, if we look at living organisms as autonomous systems, they are, without any doubt, the most sophisticated robust and adaptable systems we know. The living beings we see every day are the result of millions of years of evolution, they have achieved a very high level of adaptation to their environment, and often their solutions to survive (in terms of body structure or behaviour) are the most efficient imaginable [8].