Lateral-climbing soft robot is designed consisting of a two-inputs soft actuator and two silicone suction feet. (a) Theoretically predicted antisymmetric deformation of soft actuators consists of two bending segments with \$n\$ = 3:2 and 2:3. (b)–(h) Soft robot moves laterally on the vertical surface due to the periodical input pressures.

Honorable Mention paper, “Modeling & Design of Lattice-Reinforced Pneumatic Soft Robots” proposes a design methodology for #SoftRobots using lattice structures to enhance strength and control complex deformations.
ieeexplore.ieee.org/document/103...

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