**4. Review on recent advances: iTuna and BaTboT**

In this section, we report our most recent results on two SMA-actuated bio-inspired robots. The first, called iTuna, ia an underwater robot that according to our classification falls into the "full-actuated-boy" category. The second is an aerial robot, which implements the concept of morphing wings by means of SMA-based muscles.

<sup>1</sup> http://www.octopusproject.eu/
