Ahmad Abbasian

Basically, Soft robots are systems created from materials with mechanical qualities akin to those of biological tissues, developed and manufactured in a highly inventive manner rather than artificially assembled by serial or parallel arrangements of simple blocks, as rigid-body robots were.

I suggest going through these articles:

1. https://www.sciencedirect.com/science/article/pii/S0264127521008406

2. https://www.researchgate.net/publication/224156047_Peristaltic_Locomotion_with_Antagonistic_Actuators_in_Soft_Robotics

3. https://etd.ohiolink.edu/apexprod/rws_etd/send_file/send?accession=case1579793861351961&disposition=inline

4. https://ieeexplore.ieee.org/document/5509542

5. https://groups.csail.mit.edu/drl/wiki/images/7/71/MeshwormFinal.pdf

Dear Abmad Abbasian,

Here is more information on the subject and in particular the work of Steven Dirven and co-authors which are quite interesting, for that I suggest you to see these links.

https://www.liebertpub.com/doi/abs/10.1089/soro.2020.0021

https://ieeexplore.ieee.org/document/6232458

https://link.springer.com/chapter/10.1007/978-3-319-05582-4_41

https://link.springer.com/chapter/10.1007%2F978-3-662-44506-8_24

https://iopscience.iop.org/article/10.1088/1361-6501/aa544f/pdf

Best regards