“…By imitating the behaviours of various creatures in nature, such as reptiles, annelid, molluscs, and humans (bionic hands, arms, etc. ), different types of soft robots have been designed, like snake-shaped robots [27,28], inchworm robots [29,30], earthworm robots [31,32], jellyfish robots [33][34][35], robotic hands [36][37][38][39][40], auxiliary gloves [41][42][43], etc. Such a bionic soft robot can achieve a single function, such as multi-gait crawling [44][45][46][47], frictional crawling [48][49][50], jumping [51,52], and rolling [53,54], or it can achieve multiple functions, such as two modes of scrolling and crawling [55] and three modes of straight crawling, steering and rolling [56].…”