Soft bionic robot based on air bag structure and middle connecting module of soft bionic robot

The invention discloses a soft bionic robot based on an air bag structure and a middle connecting module of the soft bionic robot, and relates to the technical field of bionic robots. The problems that an existing soft robot is complex in manufacturing, poor in bending capacity and single in motion mode, meanwhile, an existing multi-module soft robot generally adopts multiple air paths for inflation and deflation, and dragging of the air paths can affect motion of the robot are solved. The soft bionic robot based on the air bag structure comprises a middle connecting module and four soft modules, the two ends of the middle connecting module are each connected with two soft modules, the two soft modules are fixedly connected in an up-down back-to-back mode, each soft module is of a hollow shell structure, a closed cavity is formed in each soft module, and each closed cavity is internally provided with an air bag. The air inlet and outlet port of the air inlet and outlet pipeline on the upper side of the middle