Abstract In the field of robotics, researchers are aiming to develop soft or partially soft bodied robots that utilize the motion and control system of various living organisms in nature. These robots have the potential to be robust and versatile, even safer for human interaction compared to traditional rigid robots. Soft robots based on biomimetic principles are being designed for real life applications by paying attention to different shape, geometry, and actuation systems in these organisms that respond to surrounding environments and stimuli. Especially, caterpillars or inchworms have garnered attention due to their soft compliant structure and crawling locomotion system making them ideal for maneuvering in congested spaces as a transport function. Currently, there are two major challenges with design and fabrication of such soft robots: using an efficient actuation system and developing a simple manufacturing process. Different actuation systems have been explored, which include shape memory alloy based coils and hydraulic and pneumatic actuators. However, the intrinsic limitations due to overall size and control system of these actuators prevent their integr
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