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Hu, F., Lv, H. & Tuzikov, A.V. Multi-objective cooperative control based on evolutionary process optimization of immune algorithm. L.M. conceived the robot, designed the experiments, and wrote the main manuscript text. E.C. and L.M. fabricated the robot and conducted the experimental characterization. L.M. and E.C. prepared all figures. All authors reviewed the manuscript and analysed the results. Corresponding author

Squeakee The Balloon Dog - Feed Him, Teach Him Tricks, Pop Squeakee The Balloon Dog - Feed Him, Teach Him Tricks, Pop

Hamashima, C., Shabana, M., Okada, K., Okamoto, M. & Osaki, Y. Mortality reduction from gastric cancer by endoscopic and radiographic screening. Cancer science 106, 1744–1749, https://doi.org/10.1111/cas.12829 (2015).verifyErrors }}{{ message }}{{ /verifyErrors }}{{ Weitschat R, Vogel J, Lantermann S, Hoppner H (2017) End-effector airbags to accelerate human-robot collaboration. Proc IEEE Int Conf Robot Autom 11(8):2279–2284

Multi-objective cooperative control based on evolutionary Multi-objective cooperative control based on evolutionary

Manfredi, L., Putzu, F., Guler, S., Huan, Y. & Cuschieri, A. 4 DOFs hollow soft pneumatic actuator - HOSE. Materials Research Express 6, 045703, https://doi.org/10.1088/2053-1591/aaebea (2019).Cianchetti, M., Mattoli, V., Mazzolai, B., Laschi, C. & Dario, P. A new design methodology of electrostrictive actuators for bio-inspired robotics. Sensors and Actuators B: Chemical 142, 288–297, https://doi.org/10.1016/j.snb.2009.08.039 (2009). Rodrigue, H., Wang, W., Han, M.-W., Kim, T. J. Y. & Ahn, S.-H. An overview of shape memory alloy-coupled actuators and robots. Soft robotics 4, 3–15, https://doi.org/10.1089/soro.2016.0008 (2017). Colonoscope training model, kyoto kagaku co., ltd, fushimi-ku kyoto, japan, https://www.kyotokagaku.com/products/detail01/m40.html (Accessed: 22-03-2019).

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O’Halloran, A., O’Malley, F. & McHugh, P. A review on dielectric elastomer actuators, technology, applications, and challenges. Journal of Applied Physics 104, 071101, https://doi.org/10.1063/1.2981642 (2008). Valdastri, P. et al. Magnetic air capsule robotic system: proof of concept of a novel approach for painless colonoscopy. Surgical Endoscopy 26, 1238–1246, https://doi.org/10.1007/s00464-011-2054-x (2012). Breedveld, P. Development of a rolling stent endoscope. In The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics, 2006. BioRob 2006, 921–926, https://doi.org/10.1109/BIOROB.2006.1639209 (2006).Singh K, Singh K, Son LH, Aziz A (2018) Congestion control in wireless sensor networks by hybrid multi-objective optimization algorithm. Comput Netw 138:90–107 Norton, J. et al. Rollerball: A mobile robot for intraluminal locomotion. In 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 254–259, https://doi.org/10.1109/BIOROB.2016.7523634 (2016). Horton, K. M., Corl, F. M. & Fishman, E. K. Ct evaluation of the colon: Inflammatory disease. RadioGraphics 20, 399–418, https://doi.org/10.1148/radiographics.20.2.g00mc15399 (2000).