3d printed hybrid robot

A hybrid robot containing integrated soft and rigid components includes at least one soft component, said soft component comprised of a first flexible material; at least one rigid component, said hard component comprised of a second rigid material; and an expandable chamber capable of actuation upon pressurization, wherein the hard component is integrally connected to the soft component by a functionally graded connector, wherein the functionally graded connector comprises a compositional gradient comprised of the first soft material and the second rigid material.