• A tunable initial coiling structure soft robot (ICSBot) has been developed by combining theoretical calculations, finite element analysis, and direct ink writing technology.
• By mimicking the prey-handling behavior of snakes, ICSBot functions as a coiling gripper, capable of dynamic uncoiling, object grasping, and controlled release.
• By simulating the multimodal movement of snakes, ICSBot demonstrated sidewinding locomotion to navigate unstructured environments, accordion locomotion to navigate narrow tubes, and winding climbing locomotion to traverse tubular structures under near-infrared light radiation.
• The study provides a novel strategy for designing and fabricating coiling-structured soft robots, highlighting their potential in smart and multifunctional robotics.