Original Research Published on 12 Jul 2019 RUBIC: An Untethered Soft Robot With Discrete Path Following in Soft Robotics Hsing-Yu ChenRichard Suphapol DiteesawatAlice HaynesAlixander James PartridgeMelanie Florine SimonsEnrico WernerMartin GarradJonathan RossiterAndrew T. Conn Frontiers in Robotics and AI doi 10.3389/frobt.2019.00052 8,370 views 15 citations