  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 software. Experimental results demonstrate that the soft actuator
achieves bi-directional bending and linear displacement, which is essential for
mimicking snake or worm-like locomotion
