This paper illustrates a bio-inspired approach to effective, smooth and safe navigation in the human body and, in particular, in the gastrointestinal tract. This idea originates from the medical need to develop more powerful tools for microendoscopy, which is one of the most challenging frontiers of modern medicine. Understanding motion and perception systems of lower animal forms, such as parasites, worms, insects and snakes, can help to design and fabricate bio-inspired robots able to navigate in tortuous, slippery and difficult-to-access cavities of the human body. A preliminary study of a biomimetic adhesion system for the human tissues is presented in this work and some technological implementations are illustrated and discussed. Finally, some issues concerning the goals of smart and reactive locomotion are considered and the most promising and relevant enabling technologies are discussed.