RUBIC: An Untethered Soft Robot With Discrete Path Following oleh Hsing-Yu Chen, Hsing-Yu Chen, Richard Suphapol Diteesawat, Richard Suphapol Diteesawat, Alice Haynes, Alice Haynes, Alixander James Partridge, Alixander James Partridge, Melanie Florine Simons, Melanie Florine Simons, Enrico Werner, Enrico Werner, Martin Garrad, Martin Garrad, Jonathan Rossiter, Jonathan Rossiter, Andrew T. Conn, Andrew T. Conn