ABS	Acrylonitrile butadiene styrene
CAD	Computer-aided design
CCS	Centre cross-section
CNC	Computer numerical control
DIC	Digital image correlation
DoF	Degrees of freedom
EOM	Equations of motion
FEA	Finite element analysis
FBD	Free body diagram
GRACE	Geometry-based actuators that contract and elongate
GRACE (C,E,A)	GRACE contraction, elongation, and antagonistic
ID	Inner diameter
OD	Outer diameter
PALAM Robot	Pneumatically Actuated peristaLitic Advancing Modular Robot
PAM	Pneumatic artificial muscle
PDMS	Polydimethylsiloxane
PID controller	Proportional—integral—derivative controller
PLA	Polylactic acid
PP	Polypropylene
PPAM	Pleated pneumatic artificial muscle
PVA	Polyvinyl acetate
SLA	Stereolithography
TPV	Transportable pressure vessel
MCU	Micro-controller unit