Active stiffness-variable long-arm type bionic soft robot

An active stiffness-variable long-arm type bionic soft robot comprises base segments and a tail segment. Each base segment comprises a first elastic base body, first breather pipes, a first center driving cavity and at least three first side driving cavities, wherein the first elastic base body is cylindrical, the first center driving cavity is formed in the middle of the first elastic base body, the first side driving cavities are formed in one circle, outside the first center driving cavity, of the first elastic base body, the two ends of the first center driving cavity and the two ends of each first side driving cavity are closed, the first center driving cavity and the first side driving cavities are communicated with the first breather pipes, first center restraining parts are installed on the inner wall and the outer wall of the first center driving cavity, and first side restraining parts are installed on the inner wall and the outer wall of each first side driving cavity. The tail segment comprises a second elastic base body, second breather pipes, a second center driving cavity and second side driving cavities, wherein the second elastic base body is of a circular truncated cone shape, and the second breather pipes are communicated with the first breather pipes. The stiffness can be independently varied and dynamically controlled effectively in the grasping process.