3D-architected soft machines with topologically encoded actuation

A soft-bodied robotic device comprising a flexible 3D architected body composed of a plurality of interconnected beams, is distributed throughout a volume or only over a surface to provide a substantially hollow structure wherein the 3D architected body is configured to reversibly expand, contract, bend, or twist in a controllable direction when a tension along the interconnected beams lead to coordinated bending and/or buckling triggered by tendon-based actuator(s) capable of applying tension and controlling propagation of elastic instabilities through the interconnected beams to provide motions for the flexible 3D architected body, wherein the motion of the flexible 3D architected body upon actuation is defined by programing an elasticity of the flexible interconnected beams, wherein the soft bodied robotic device is made of a material selected from the group consisting of an elastomer, an elastomeric composite, a metal, a polymer, and a material which is a combination of one or more materials from the said group.