Abstract: Learning from biology has always been a path for robotics to solve high-dimensional control problems. But where has that brought us? Even today, novel mechatronic systems are powerful but still seem to be far behind their biological counterparts. Focusing more on movement than on sensing, in my talk I will highlight a few issues where the two fields are beginning to merge, and what still has to be done. Isn't it time that we finally live up to the promise, "in 10 years robots are commonplace?"