A multi-airbag air-driven soft robot is designed,which consists of several connected airbags and a two-layer base with a front frictional foot and a back one. The robot will bend when the airbags are inflated. With the different friction forces,the cyclical movement is analyzed. With the Yeoh model,the nonlinear dynamics analysis of the moving process is finished and the nonlinear relationship between the pressure inside the airbags and the forward distance of the soft robot is obtained. The inflating and deflating time is designed and an experiment is shown to verify the cyclical movement of the soft robot.