Humans have frequently looked to natural phenomena to inspire the design of art, structures, and mechanisms. However, there are as many different ways to learn from nature as there are words for this approach: bioinspiration, biomimicry, and biodesign to name a few. In this talk, I propose a taxonomy for categorizing distinct biodesign approaches and use examples from my own research to illustrate the methodology and benefits of each. In particular, I introduce the field of Animal-Robot Interactions and describe how bio-inspired approaches can be used to further biological inquiry while advancing robotics.