Seshagopalan Thorapalli Muralidharan Ruihao Zhu Qinglei Ji Lei Feng 0002 Xi Vincent Wang Lihui Wang 0001 A soft quadruped robot enabled by continuum actuators. 834-840 2021 CASE https://doi.org/10.1109/CASE49439.2021.9551496 conf/case/2021 db/conf/case/case2021.html#MuralidharanZJF21