# Multimodal Locomotion in a Soft Robot Through Hierarchical Actuation

> Research article (Soft Robotics, 2023) · cited 13× · AI/ML

**Wikidata**: [openalex:W4384922634](https://www.wikidata.org/wiki/openalex:W4384922634)  
**Source**: https://4ort.xyz/entity/multimodal-locomotion-in-a-soft-robot-through-hierarchical-actuation