Supplementary Note 8. Experiments on the quadruped robot

The structure of the quadruped robot is presented in Figure 5a-c and Figure S8g, whose materials and fabrication method are detailed in Methods- 4.6. Materials and fabrication of the robots in applications. We set \(\Delta p\) =10 kPa,    \(p_{low}\)=10 kPa, \(p_{tank-low}\) = 120 kPa, and \(p_{tabk-high}\) =125 kPa, the experimental procedures are as follows.
    i) For a specified \(p_{high}\) , put the quadruped robot at the starting line of the floorboard (with 
      sandpaper preventing slipping).
    ii) Actuate the quadruped robot using the control method of Triple Bellows following the working
      flow chart Figure 3d for DIDO or Figure 3e for IEAR, whose timings of solenoid valves are
      presented in Figure S2d.
    iii) When the quadruped robot reaches the end line, stop actuation.
    iv) Record the time consumed, steps to reach the ending line, air tank pressure , system power .
    v) Repeat step i-v for a new specified \(p_{high}\) .
    vi) Each specified working condition is measured seven times to reduce random error.
For the experiments on the quadruped robot, the working pressure \(p_{high}\)  with 50,60,70,80,90,100 and 75 kPa are covered.