To create life‐like movements, living muscle actuator technologies have borrowed inspiration from biomimetic concepts in developing bioinspired robots. Here, the development of a bioinspired soft robotics system, with integrated self‐actuating cardiac muscles on a hierarchically structured scaffold with flexible gold microelectrodes is reported. Inspired by the movement of living organisms, a batoid‐fish‐shaped substrate is designed and reported, which is composed of two micropatterned hydrogel layers. The first layer is a poly(ethylene glycol) hydrogel substrate, which provides a mechanically stable structure for the robot, followed by a layer of gelatin methacryloyl embedded with carbon nanotubes, which serves as a cell culture substrate, to create the actuation component for the soft body robot. In addition, flexible Au microelectrodes are embedded into the biomimetic scaffold, which not only enhance the mechanical integrity of the device, but also increase its electrical conductivity. After culturing and maturation of cardiomyocytes on the biomimetic scaffold, they show excellent myofiber organization and provide self‐actuating motions aligned with the direction of the contractile force of the cells. The Au microelectrodes placed below the cell layer further provide localized electrical stimulation and control of the beating behavior of the bioinspired soft robot.

The integration of flexible and stretchable electronics into biohybrid soft robotics can spur the development of new approaches for fabricating biohybrid soft machines, thus enabling a wide variety of innovative applications. Inspired by flexible and stretchable wireless‐based bioelectronic devices, untethered biohybrid soft robots are developed that can execute swimming motions, which are remotely controllable by the wireless transmission of electrical power into a cell simulator. To this end, wirelessly‐powered, stretchable, and lightweight cell stimulators are designed to be integrated into muscle bodies without impeding the robots’ underwater swimming abilities. The cell stimulators function by generating controlled monophasic pulses of up to ≈9 V in biological environments. By differentiating induced pluripotent stem cell‐derived cardiomyocytes directly on the cell stimulators using an accordion‐inspired, three‐dimensional (3D) printing construct, the native myofiber architecture are replicated with comparable robustness and enhanced contractibility. Wirelessly modulated electrical frequencies enables the control of speed and direction of the biohybrid soft robots. A maximum locomotion speed of ≈580 µm s−1 is achieved in robots possessing a large body size by adjusting the pacing frequency. This innovative approach will provide a platform for building untethered and biohybrid systems for various biomedical applications.