This article presents a unique soft robot comprised of highly compliant locomotive modules interconnected with jamming-capable flexible envelopes. The modules incorporate origami-inspired actuators and suction cups for robust omnidirectional locomotion, acting as collective elements that drive the system’s movement and control. The flexible envelopes enable dynamic interactions with the environment through stiffness modulation via granular jamming. A unified pneumatic actuation system consolidates all robot functions, simplifying the mechanical architecture. The system’s capabilities are demonstrated through shape formation, object grasping and transportation, obstacle navigation, and diverse terrain locomotion experiments, highlighting its adaptability and cooperative nature. Furthermore, a simulation-based design optimization approach using a genetic algorithm enhances the system’s grasping performance by exploring the different module and envelope configurations. The interconnected soft robot system represents a unique fusion of highly compliant modules and bodies, advancing modular soft robotics for effective environmental interactions.
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