Finally, there is Carnegie Mellon who have a whole lab dedicated to this type of research, CMU Biorobotics. If you are at all interested in mobile robots, there research is well worth a look. I would say their snake robot is the most well developed, but also the most expensive. They have put tons of research into different gaits that can be achieved by their powerful, aluminum machined, and brushless motor driven, robot. They have presented their work at many different technology conventions and continue to lead the field. I find their gait research the most interesting and helpful and they have tons of video documentation for reference. But their design is far too expensive for me to take more than mild inspiration from.