Make a robot with a soft skeleton

Understanding
A soft skeleton could be either like a tongue or like an erect penis. The tongue creates a rigid but controllable structure using multiple layers of independent muscles. A penis acts more skeleton-like than a tongue. It is designed to be rigid and hold its shape.

by mimicking a tongue

 * 1) Create artificial muscles using inflatable rubber tubes wrapped with nylon and elastic fibres at 90 degrees to each other (with the nylon fibres running length-ways).
 * 2) Attach independent pneumatic lines to the artificial muscles and allow them to inflate and contract independently.
 * 3) Arrange the muscles in a similar way to the structure of a tongue and use connective cordes to act like tendons wherever appropriate.

by mimicking a penis

 * 1) Buy a bicycle tube or remove one from a bicycle tyre.
 * 2) Buy a thin plastic waterproof raincoat or find an old one that you don't mind cutting up.
 * 3) Cut it into long rectangles that would fit exactly around the bicycle tyre tube and such that you cut parallel with the fibres in the woven plastic.
 * 4) Inflate the bicycle tyre tube.
 * 5) Glue the rectangles tightly around the bicycle tyre tube so that you form tight tubes around it with either superglue or thermoplastic from a hot glue gun.

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