Researchers are hopeful they could be programmed to move through arteries scraping away plaque, or swim through oceans removing toxic microplastic.
And because they are alive, they can replicate and repair themselves if damaged or torn.
“These are novel living machines,” said Dr Joshua Bongard, a computer scientist and robotics expert at the University of Vermont, who co-led the new research.
“They're neither a traditional robot nor a known species of animal. It's a new class of artifact: a living, programmable organism.”
Living organisms have often been manipulated by humans in the past, right down to their DNA code, but this is the first time that biological machines have been built completely from scratch.
Scientists first used the Deep Green supercomputer cluster at the University of Vermont to create an algorithm that assembled a few hundred virtual skin and heart cells into a myriad forms and body shapes, for specific tasks.