Illustrative description and details of the robot built using SFA’s and their details. A) compression piston-like actuator built using the design of square shaped large sized actuator. The hanger in the bottom was printed using SLA 3D printer (Formlab 2, Formlabs inc.) in order to place a hanger and step increase in the load from no load up to 6 kg. B) crawling locomotion robot was built using the design of arc dome shaped small sized actuator. Each of the them are connected in series to forms a modular structure for inchworm-like crawling locomotion. 1st, 3rd and 6th are the one measuring the relative resistance during every gait cycle. C) Trunk-like robotic manipulator was built in a different configuration by arranging three arc dome-shaped small sized actuators adjacent to one another at an angle 90o parallel and perpendicular to each other. This configuration helps the module to rotate, compress and extend the actuator. From the top 1st, and 4th  were the one marked for measuring the change detected during manipulating under load and no load condition.