  Soft robotics holds tremendous potential for various applications, especially
in unstructured environments such as search and rescue operations. However, the
lack of autonomy and teleoperability, limited capabilities, absence of gait
diversity and real-time control, and onboard sensors to sense the surroundings
are some of the common issues with soft-limbed robots. To overcome these
limitations, we propose a spatially symmetric, topologically-stable,
soft-limbed tetrahedral robot that can perform multiple locomotion gaits. We
introduce a kinematic model, derive locomotion trajectories for different
gaits, and design a teleoperation mechanism to enable real-time human-robot
collaboration. We use the kinematic model to map teleoperation inputs and
ensure smooth transitions between gaits. Additionally, we leverage the passive
compliance and natural stability of the robot for toppling and obstacle
navigation. Through experimental tests, we demonstrate the robot's ability to
tackle various locomotion challenges, adapt to different situations, and
navigate obstructed environments via teleoperation.
