Grad Soft Robotics Final Project: Although rigid tails can offer precise control and efficient energy transfer, they are less adaptable and can potentially be dangerous in unpredictable environments, which is a given when creating a mobile robot. Soft robotic tails offer enhanced adaptability and safer interaction with environments and humans; however, they can still pose challenges in control, modeling, and durability. This project utilizes a soft robotic approach to facilitate and improve turning in an untethered robot. A zero friction environment was rigged to evaluate movement programs for the soft robotic tail.