Abstract: Legged robots have considerable potential for traversing unstructured situations; nonetheless, their inflexible frameworksoften constrain adaptability and obstacle negotiation. The study article presents a revolutionary Soft Tri-Legged Robot(STLR) that improves movement and obstacle-avoidance skills by using a bio-inspired pneumatic artificial muscle (BubbleArtificial Muscles) and a bio-inspired tactile sensor (TacTip). The STLR is activated by BAMs, which are flexible, pneumatic-driven actuators that provide fine control over forward, backward, and steering movements. Obstacle identificationand avoidance are facilitated by the TacTip sensor, which delivers tactile input for traversing unstructured terrains. Wedelineate the mechanical features of the BAMs, assess the functionality of the robot’s legs, and elaborate on the incorporation of the tactile sensing system. Experimental results demonstrate that the STLR can effectively achieve multi-directionalflexible movement and obstacle avoidance through a cross-modal perception-actuation mechanism. This study highlightsthe promise of soft robotics for search and rescue, medical aid, and autonomous exploration, while delineating difficultiesand opportunities for future improvements in functionality and efficiency.

Key words: Legged robot, Bio-inspired bubble artificial muscles, Bio-inspired TacTip sensor, Foot tactile perception, Obstacle avoidance')">Legged robot, Bio-inspired bubble artificial muscles, Bio-inspired TacTip sensor, Foot tactile perception, Obstacle avoidance