IntroductionOne of the hallmarks of living systems is irritability, the ability to sense, and respond to a potentially harmful stimulus. The most characteristic response in biological systems to such a threat is to simply move away. For example, the leaves of a mimosa plant fold away from the touch of a hand, and the same hand pulls away from a flame. One of the challenges in designing synthetic biomimetic systems that exhibit analogous behavior is creating macroscopic objects that not only sense an ''adverse'' condition but also undergo autonomous, directed motion in the presence of this condition. Recently, we have developed theoretical and computational models [1-3] for chemoresponsive polymer gels and, through these models, have been attempting to design such adaptive systems. Our efforts have focused on a particular class of responsive gels, namely, those undergoing the Belousov-Zhabotinsky (BZ) reaction [4]. As we show below, by harnessing the inherent properties of these polymer networks, we can design materials that emit a chemical ''alarm signal'' and directed motion in response to a mechanical deformation or impact [5]. We can also design a polymeric ''worm'' that moves away from light of a certain wavelength, which is an adverse stimulus for the BZ reaction [6].The unique attributes of BZ gels make them ideal candidates for displaying biomimetic behavior, that is, these polymer networks can expand and contract periodically without external stimuli. This autonomous, self-oscillatory behavior is due to a ruthenium catalyst that is covalently bonded to the polymers [7-24]. The BZ reaction generates a periodic oxidation and reduction of the anchored metal ion, which changes the hydrophilicity of the polymer chains, and in this manner the chemical oscillations induce the rhythmic swelling and deswelling in the gel [7][8][9][10][11][12][13][14][15][16][17][18][19][20][21][22][23][24]. In other words, the chemical energy from BZ reaction fuels the mechanical oscillations of these gels. These self-oscillating gels can perform sustained work until the reagents in the host solution are consumed and can be simply ''refueled'' by replenishing these solutes. Millimeter-sized pieces of the BZ gels can actually Nonlinear Dynamics with Polymers: Fundamentals, Methods and Applications. Edited by John A. Pojman and Qui Tran-Cong-Miyata