Our group studies new approaches to design and fabricate actuation, locomotion, and sensing mechanisms for novel robots. Our work is multidisciplinary and focused in three main areas: bio-inspiration, soft multi-functional structures, and passive exploitation of environment dynamics. We combine theoretical modeling with laboratory experiments to obtain insights into different dynamic phenomena found in nature. These studies guide our designs of simple and elegant robot mechanisms and their interactions with different environments. To enhance mechanism dynamic capabilities, we develop and use novel fabrication techniques to tailor physical properties. Finally, we participate in field studies regularly along with collaborators to test promising new technologies in challenging environments.