Abstract-- While its biological significance is welldocumented, its application in soft robotics, particularly for the transport of fragile and irregularly shaped objects, remains underexplored. This study presents a modular soft robotic actuator system that addresses these challenges through a scalable, adaptable, and repairable framework, offering a cost-effective solution for versatile applications. Experimental results validate the system's ability to accommodate objects with varying geometries and material characteristics, balancing robustness with flexibility. Peristalsis, defined as the involuntary, wave-like contraction and relaxation of circular and longitudinal muscles [1], is a widespread biological mechanism essential for various functions in animals and humans. Figure 1: Overview of the actuator's capability to grasp delicate The process provides slow but stable [3] coils, electroactive polymers, artificial muscles), and control and adaptable transportation [8], minimizing energy consumption strategies (e.g., thermal feedback, pressure feedback, potentiometer and enabling movement through small or irregular feedback).

We developed a new class of soft locomotive robots that can self-assemble into a preprogrammed configuration and vary their stiffness afterward in a highly integrated, compact body using contracting-cord particle jamming (CCPJ). We demonstrate this with a tripod-shaped robot, TripodBot, consisting of three CCPJ-based legs attached to a central body. TripodBot is intrinsically soft and can be stored and transported in a compact configuration. On site, it can self-deploy and crawl in a slip-stick manner through the shape morphing of its legs; a simplified analytical model accurately captures the speed. The robot's adaptability is demonstrated by its ability to navigate tunnels as narrow as 61 percent of its deployed body width and ceilings as low as 31 percent of its freestanding height. Additionally, it can climb slopes up to 15 degrees, carry a load of 5 grams (2.4 times its weight), and bear a load 9429 times its weight.