The invention discloses an S-shaped soft-bodied robot which consists of a movement base body, a power system and a signal system, wherein the movement base body consists of a plurality of bilaterally symmetric unit bodies that are made of complete soft material in a hollow casting manner; the unit bodies comprise outer walls, inner spaces enclosed by the outer walls, and air passages communicated with the inner spaces; the inner spaces, except air inlet pipes, of the unit bodies are completely air-tight; the power system mainly comprises an air pump and magnetic valves; the quantity of the magnetic valves accords with that of the unit bodies; and opening and closing of a magnetic valve assembly are controlled by the signal system. Based on the bionics principle, through rational utilization of the particular characteristics of the soft material, the soft unit bodies forming the movement base body are subjected to special structural design, so that the mechanics requirement of wriggling movement is met, and advancing, retrograde and turning movements of the soft-bodied robot are realized.