Dear Ramji,
Prof. Cutkosky of DML (Stanford) works on biomimetic robots
(http://www-cdr.stanford.edu/biomimetics/).
Also, you can have a look at the work of Ebefors (University of Uppsala,
Sweden, http://www.s3.kth.se/mst/staff/thorbjorne.html) regarding
polyimide joint actuators for microrobotics.

Regards,
Lucia Beccai

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Lucia Beccai, PhD
CRIM Lab
Polo Sant'Anna Valdera
Scuola Superiore Sant'Anna
Viale Rinaldo Piaggio 34 - 56025 -Pontedera (Pisa) - Italy
phone: +39 050 883 488
fax  +39 050 883 402
http://www-crim.sssup.it/