{
  "abstract": "This disclosure relates to apparatus a multi-legged robot including at least one pair of actuators. Each actuator includes a pliable body. The pliable body includes a first portion having a first chamber, a second portion having a second chamber, where the second portion coupled to a distal end of the first portion. The pliable body includes a first inlet coupled to the first chamber, where the first portion is configured to bend upon receiving a first fluid via the first inlet and a second inlet coupled to the second chamber, where the second portion is configured to extend upon receiving a second fluid via the second inlet. The multi-legged robot includes a frame coupled to a proximate end of the first portion of each actuator.",
  "assignees": [
    "THE REGENTS OF THE UNIV OF CALIFORNIA"
  ],
  "authors": [
    "KARYDIS KONSTANTINOS",
    "LIU ZHICHAO"
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  "source_date": "2026-04-07",
  "source_id": "US-12594666-B2",
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  "supersedes": null,
  "title": "Soft pneumatic hexapedal robot, and uses thereof",
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