Abstract: Some aspects of the present disclosure relate to systems and methods for polymer-based extrusion. Some non-limiting embodiments provide for extrusion of a liquid photopolymerizable monomer in a channel/die with the aid of a lubricating component, such as poly(dimethylsiloxane)-graft-poly(ethylene oxide) grafted copolymer (PDMS-PEO), and driven by fluid pressure (e.g., a fluid pump). Other aspects of the present disclosure relate to growing soft robots. Some non-limiting embodiments provide a novel class of robots which grow in an environment by growing at their tip (or robot head) by using the self-lubricated photopolymerization extrusion techniques of the present disclosure. Emulating biological tip growth, this process is facilitated by converting an internal monomer fluid into the solid body of the growing robot through polymerization.