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This work introduces an environmentally benign and degradable elastomer, poly(glycerol sebacate) with calcium carbonate (PGS-CaCO $$_{3}$$ 3 ), for use in soft robotics. Development of greener materials like PGS-CaCO $$_{3}$$ 3 contributes to robot designs that do not require retrieval and can safely degrade in the natural environment. A simplified synthesis method of PGS was...