A pneumatic robotic system, comprising: an attraction feature comprising a plurality of fluid actuators configured to provide a shape and a motion profile of the attraction feature in response to controlled inflation; a fluid source fluidly coupled to the attraction feature and configured to provide pressurized fluid to the plurality of fluid actuators; one or more fluid control devices configured to control pressurized fluid flow from the fluid source to the plurality of fluid actuators; one or more sensors associated with the attraction feature and configured to monitor state properties of the plurality of fluid actuators; and a controller (32, 48) communicatively coupled to the one or more fluid control devices and to the one or more sensors, wherein the controller is configured to: analyze feedback from the one or more sensors relating to an interaction between the attraction feature and a target as the interaction is occurring to determine one or more interaction parameters associated with the interaction, wherein the interaction between the attraction feature and the target comprises physical contact between the attraction feature and the target; and adjust inflation of at least one of the plurality of fluid actuators to maintain the one or more interaction parameters within a predetermined range as the interaction is occurring further comprising a plurality of attraction features each comprising a plurality of fluid actuators, wherein the controller is further configured to: analyze feedback from the one or more sensors relating to an interaction between the plurality of attraction features and the target as the interaction is occurring to determine one or more net interaction parameters associated with the interaction, wherein the interaction between the plurality of attraction features and the target comprises physical contact between the plurality of attraction features and the target; and adjust inflation of at least one of the plurality of fluid actuators of at least one of the plurality of attraction features to maintain the one or more net interaction parameters within a predetermined range as the interaction is occurring. an attraction feature comprising a plurality of fluid actuators configured to provide a shape and a motion profile of the attraction feature in response to controlled inflation; a fluid source fluidly coupled to the attraction feature and configured to provide pressurized fluid to the plurality of fluid actuators; one or more fluid control devices configured to control pressurized fluid flow from the fluid source to the plurality of fluid actuators; one or more sensors associated with the attraction feature and configured to monitor state properties of the plurality of fluid actuators; and a controller (32, 48) communicatively coupled to the one or more fluid control devices and to the one or more sensors, wherein the controller is configured to: analyze feedback from the one or more sensors relating to an interaction between the attraction feature and a target as the interaction is occurring to determine one or more interaction parameters associated with the interaction, wherein the interaction between the attraction feature and the target comprises physical contact between the attraction feature and the target; and adjust inflation of at least one of the plurality of fluid actuators to maintain the one or more interaction parameters within a predetermined range as the interaction is occurring analyze feedback from the one or more sensors relating to an interaction between the attraction feature and a target as the interaction is occurring to determine one or more interaction parameters associated with the interaction, wherein the interaction between the attraction feature and the target comprises physical contact between the attraction feature and the target; and adjust inflation of at least one of the plurality of fluid actuators to maintain the one or more interaction parameters within a predetermined range as the interaction is occurring analyze feedback from the one or more sensors relating to an interaction between the plurality of attraction features and the target as the interaction is occurring to determine one or more net interaction parameters associated with the interaction, wherein the interaction between the plurality of attraction features and the target comprises physical contact between the plurality of attraction features and the target; and adjust inflation of at least one of the plurality of fluid actuators of at least one of the plurality of attraction features to maintain the one or more net interaction parameters within a predetermined range as the interaction is occurring.