摘要：This article proposes a novel pneumatic soft actuator,which can perform bending in different directions under positive or negative air *** actuators are composed of multiple airbags,and the design of the airbags is analyzed.A pneumatic soft robot based on these soft actuators is designed and fabricated by 3D printing *** robot consists of three soft multi-bladder actuators,one soft sensor,middle layer,bottom layer,front barb,front feet and rear *** to the different positive or negative pressure control of the three soft multi-bladder actuators,the robot can perform both linear,crossing and climbing *** soft robot has excellent environmental adaptability and can pass through complex environments by combining three modes of ***,we establish the closed-loop automatic control system using soft *** soft sensor can be stretched and compressed as the soft robot's ***,the automatic control system is verified by linear,crossing and climbing movement *** indicate that the robot can pass through complex environments under the closed-loop control system.