Soft Quadruped Glaucus
The new quadruped, called the Glaucus, walks using only two input lines. It has hollow interior chambers that interdigitate with one another. When either of these chambers is pressurized it deforms and bends the structure of the robot. This bending produces the walking motion. It is similar to how a salamander walks, by balancing itself on one pair of legs diagonal from one another while moving the opposite pair forward.

You can find a tutorial on Adafruit, downloadable 3d print files on Thingiverse, photo documentation of the entire quadruped series on Flickr, and a video up on Youtube.
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