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Abstract Gel actuators have potential in soft robotics. Although gel actuators can realize various motions like contraction, expansion, and bending, most require external inputs such as batteries and circuits. Herein we propose a periodical torsional motion hydrogel driven by chemical energy from the Belousov-Zhabotinsky (BZ) reaction. Our BZ gel system exhibits autonomous motion without a battery. The elastic moduli of the redox states of the BZ gel are investigated using stress–strain analysis. An experimental system, which integrates the BZ gel and two PDMS (dimethylpolysiloxane) rotators, is designed to evaluate torsion angles. The experimental pre-twist angle dependence of the rotary motion is compared with a theoretical rotation model. The results agree qualitatively. This study should contribute to the development of soft actuators without external components.