Plenty of researchers and engineers are inspired by nature to develop more sophisticated robots. Take the Salamandra Robotica II for instance: it is a salamander-like robot that has foldable limbs and can swim, crawl, and walk. It has a modular design with each module with its own micro-controller.
Salamandra robotica II swimming and walking at InnoRobo 2013
The robot can be split in different parts and still work. The above video shows it in action.
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