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Adopting a habitat\u2010centric framework, this review compares untethered soft robots across terrestrial, aquatic, aerial, and in vivo environments. On terrestrial substrates, design strategies are shaped by locomotion\u2010specific demands, including contact modulation in crawling, energy storage and release in jumping, switchable adhesion in climbing, and granular fluidization in burrowing. In aquatic habitats, the dominant constraint shifts with depth, from capillary support at the air\u2010water interface, to hydrodynamic drag in shallow water, and to hydrostatic pressure in the deep sea. In aerial environments, strict mass and power limits favor actively flapping insect\u2010scale robots, buoyancy\u2010assisted vehicles, and passively dispersed aeroelastic structures. In vivo, miniaturization and biocompatibility confine the viable design space to magnetic, acoustic, and biohybrid actuation. A multi\u2010environment comparison shows that no single actuation modality is universally optimal. Each habitat filters actuation strategies by the compatibility between energy transmission and the local medium. Material longevity, onboard energy autonomy, multi\u2010environment transition, extraterrestrial operation, and perception and feedback control are identified as cross\u2010cutting challenges whose resolution is required to translate laboratory demonstrations into real\u2010world deployment.<\/jats:p>","DOI":"10.1002\/advs.78287","type":"journal-article","created":{"date-parts":[[2026,10,18]],"date-time":"2026-10-18T16:32:01Z","timestamp":1792341121000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":0,"title":["Habitat\u2010Specific Design Strategies for Untethered Soft Robots"],"prefix":"10.1002","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8330-2829","authenticated-orcid":false,"given":"Siyang","family":"Li","sequence":"first","affiliation":[{"name":"Center for X\u2010Mechanics Department of Engineering Mechanics Zhejiang University  Hangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhikun","family":"Miao","sequence":"additional","affiliation":[{"name":"Center for X\u2010Mechanics Department of Engineering Mechanics Zhejiang University  Hangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5835-9276","authenticated-orcid":false,"given":"Tuck\u2010Whye","family":"Wong","sequence":"additional","affiliation":[{"name":"Sustainable and Smart Materials Laboratory Department of Biomedical Engineering and Health Sciences Universiti Teknologi Malaysia  Johor Bahru Malaysia"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0265-3454","authenticated-orcid":false,"given":"Tiefeng","family":"Li","sequence":"additional","affiliation":[{"name":"Center for X\u2010Mechanics Department of Engineering Mechanics Zhejiang University  Hangzhou China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2026,10,18]]},"reference":[{"key":"e_1_2_9_2_1","doi-asserted-by":"publisher","DOI":"10.1088\/0034\u20104885\/79\/11\/110001"},{"key":"e_1_2_9_3_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010024\u201047639\u20100"},{"key":"e_1_2_9_4_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41928\u2010018\u20100024\u20101"},{"key":"e_1_2_9_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/s44222\u2010024\u201000156\u20107"},{"key":"e_1_2_9_6_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41467\u2010023\u201042882\u20103"},{"key":"e_1_2_9_7_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586\u2010019\u20101322\u20100"},{"key":"e_1_2_9_8_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578\u2010021\u201000389\u20107"},{"key":"e_1_2_9_9_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_9_10_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aah3690"},{"key":"e_1_2_9_11_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0001"},{"key":"e_1_2_9_12_1","doi-asserted-by":"publisher","DOI":"10.1002\/anie.201800907"},{"key":"e_1_2_9_13_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.1229163"},{"key":"e_1_2_9_14_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.abe2922"},{"key":"e_1_2_9_15_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aax4615"},{"key":"e_1_2_9_16_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748\u20103190\/11\/3\/031001"},{"key":"e_1_2_9_17_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41586\u2010019\u20101737\u20107"},{"key":"e_1_2_9_18_1","doi-asserted-by":"publisher","DOI":"10.1007\/s11831\u2010019\u201009352\u2010w"},{"key":"e_1_2_9_19_1","doi-asserted-by":"publisher","DOI":"10.1088\/1748\u2010605X\/ac2b7a"},{"key":"e_1_2_9_20_1","doi-asserted-by":"publisher","DOI":"10.1002\/advs.202510320"},{"key":"e_1_2_9_21_1","doi-asserted-by":"publisher","DOI":"10.1039\/d0tb01585g"},{"key":"e_1_2_9_22_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.recm.2022.09.001"},{"key":"e_1_2_9_23_1","doi-asserted-by":"publisher","DOI":"10.3389\/frobt.2018.00084"},{"key":"e_1_2_9_24_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0004"},{"key":"e_1_2_9_25_1","doi-asserted-by":"publisher","DOI":"10.1038\/s41578\u2010018\u20100022\u2010y"},{"key":"e_1_2_9_26_1","first-page":"303","volume-title":"The Surface Climates of Canada","author":"Oke T. 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