We study how animals move using non-invasive, state of the art, motion observation techniques (e.g. high speed video, pose estimation based on deep learning) both in their natural habitat and in the lab in cooperation with academic partners around the world. To better understand biological movement as observed first hand in natural systems through original discovery, we also build biorobotic models that emulate animal locomotion. Bodies are in nature are soft, and so our approach leverages advances in Soft Robotics. In this spirit, we make diverse soft ‘artificial muscles’ (actuators) and soft sensors. Discovery of principles of animal locomotion can then be transferred to biologically informed robots where advantageous. These robophysical models therefore serve as instruments of knowledge. Robotics-inspired Biology can help us better understand the spectacular and graceful movement observed in natural systems.