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Locomotion is an important ability of animals and bioinspired mobile robots. It is, however, challenging for current soft mobile robots to achieve multimodal locomotion within a simple structure. Inspired by caterpillars, we combine a two-degree-of-freedom (2-DOF) dielectric elastomer actuator (DEA) and two flexible electroadhesives (EAs) to form the multimodal soft robot. The 2-DOF DEA was regarded as the deformable body that can elongate, contract, and bend. The EAs, fabricated by a cost-effective cut-transfer method, acted as two feet that can provide required and sufficient frictions whilst moving on different surfaces. Both the DEA and EA were experimentally characterized. As a result, we developed a caterpillar inspired soft robot capable of multimodal turning, crawling, and climbing. The robot was able to crawl at a speed of 2.38 mm/s, achieve two turning modes, climb at a speed of 2.30 mm/s, and can still …