Nowadays the robotic research focuses on building systems that can interact with the environment effectively and safely. In the future, the robotic systems will not only be tasked in the known, safe spaces but also collaborate with humans and even worn by the humans to perform more complicated tasks in unknown spaces. However, the physical and functional properties of the robots are limited by their actuator, sensor components and by their physical architecture. We need to find new methodologies for building soft structures, embeddable/wearable sensors and actuators that enable more functions. In Flexible Systems Laboratory we use smart materials, biologically inspired design, layer-by-layer fabrication techniques, and try to find solutions to make architectures soft, flexible, embeddable and wearable. URL