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Four-legged soft robot made of layered elastomeric materials, with separate pneumatic networks embedded in the spine and each of the legs. (a)–(h) Pressurization/depressurization of these embedded networks in strategic sequences moves the robot, and enables the robot to pass under a vertical plate of glass raised 2 cm off the ground (bottom edge indicated by the dashed white line). Image reproduced from Ref. 21.
