Abstract
This paper presents the design and dynamic modelling of a soft pneumatic actuator that can be used to mimic snake or worm-like locomotion. The bond graph technique is used to derive the dynamics of the actuator. To validate the accuracy of the derived dynamic model, we conduct numerical simulations using 20-sim\documentclass[12pt]{minimal}
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\begin{document}$$^{\text{\textregistered} }$$\end{document} software. Experimental results demonstrate that the soft actuator achieves bidirectional bending and linear displacement, which is essential for mimicking snake or worm-like locomotion.