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(a) Schematic of a mechanical model of the caterpillar-like soft robot. Double-headed arrows between the oscillators indicate diffusion interaction. Arrows from the oscillators to real-time tunable springs (RTSs) represent the motor command to RTSs. (b) Forces acting on a mass of the model. (c) The three-dimensionally printed caterpillar-like soft-bodied robot consisting of four segments.
