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This is a course on the mechanics of locomotion in animals and machines (particularly bio-inspired and biomimetic robots). It will introduce you to the breadth of diverse topics within the field of animal and robot locomotion. We will discuss why animals move amazingly well in all kinds of environments, how they have inspired some highly successful machines, and yet why the majority of robots still struggle in environments that are only modestly complex. Terrestrial, aerial, and aquatic locomotion will be discussed, with numerous examples. General principles and integration of knowledge from engineering, biology, and physics will be emphasized. Students from ME and other departments are welcome. Please visit http://li.me.jhu.edu/teaching for updated information.