“…[ 11,23,31 ] However, the rigid parts (e.g., compressors, SMA springs, or servomotors) used to assemble such systems limit their mechanical compliance. While alternative actuation strategies based on different stimuli‐responsive soft materials, such as liquid metals, [ 32 ] magnetic fluids, [ 33 ] hydrogels, [ 34 ] or dielectric elastomers, [ 35–37 ] have been explored for peristaltic locomotion, they typically offer little functionality beyond basic locomotion in predefined environments (e.g., tubes) and lack the actuation precision, scalability, and resilience to achieve effective motility observed in wormlike organisms. Thus, worm robots appear to be either functional or soft; a tendency that is also shared by recently reported bending actuators.…”