The hidden wheel-within

There is this old, eternal question: Why don't animals have wheels? In this perspective, we show that they actually do, and they do so in a physically extraordinary way - by combining incompatible elasticity, differential geometry and dissipative self-organization. Nature's wheel - the "wheel-within" - has been mysteriously concealed in plain sight, yet it spins in virtually every slender-body organism: in falling cats, crocodilians spinning to subdue their prey, rolling fruit-fly larvae, circumnutating plants and even in some of our own body movements. Flying somehow under the radar of our cognition, in recent years, the wheel-within also tacitly entered the field of soft robotics, finally opening our eyes to its ubiquitous role in Nature. We here identify its underlying physical ingredients, namely the existence of a neutrally stable, shape-invariant and actively driven elastic mode. We then reflect on various man-made realizations of the wheel-within and outline where it could be spinning from here.