A soft robot consisting of several deformable spherical cells was presented. According to the deflating and inflating of the spherical cells, the size of each spherical cell could be changed, enabling the soft robot to move forward. In this paper, by using the  finite elasticity theory, the inflation of a modular spherical cell was modeled. The result shows that as the original radius decreases, the maximum pressure increases. The moving mode was analyzed in one circular with the deflating and inflating actions of 3 modular spherical cells. Finally an experiment was conducted to verify the moving mode of the soft robot.

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