Wheels and axles did not come from existing biology, unless you are being pedantic. Wheels for locomotion simply was not a viable strategy for evolutionary driven organisms due to their reliance on infrastructure. Why expend valuable energy to build and maintain roads when it helps your competitors? If animals moved with wheels and built roads, the laziest ones benefit the most, and as more and more organisms get lazy, they gotta switch to another method.

I don't think we should worship biology like it's some miracle process with infinite wisdom. It makes sense to look to nature and biology for solutions when the engineering parameters are aligned (see wood, an excellent material that has impressive properties.) Otherwise, a lot of things that we retrospectively attribute to being inspired by nature are merely convergent designs (there aren't many ways to make something aerodynamic, if you would be surprised)

EDIT: I misread your post and I thought you were saying that wheels and axle were from biology. Sorry about that.