@article {shepherd_multigait_2011,
	title = {Multigait soft robot},
	journal = {Proceedings of the National Academy of Sciences},
	volume = {108},
	year = {2011},
	pages = {20400{\textendash}20403},
	abstract = {This manuscript describes a unique class of locomotive robot: A soft robot, composed exclusively of soft materials (elastomeric polymers), which is inspired by animals (e.g., squid, starfish, worms) that do not have hard internal skeletons. Soft lithography was used to fabricate a pneumatically actuated robot capable of sophisticated locomotion (e.g., fluid movement of limbs and multiple gaits). This robot is quadrupedal; it uses no sensors, only five actuators, and a simple pneumatic valving system that operates at low pressures (,
	url = {http://www.pnas.org/content/108/51/20400.short},
	author = {Shepherd, Robert F. and Filip Ilievski and Wonjae Choi and Stephen A. Morin and Adam A. Stokes and Aaron D. Mazzeo and Xin Chen and Michael Wang and Whitesides, George M.}
}
