The invention discloses a soft-body robot capable of autonomously balancing contact force, comprising a force sensor 1, a soft finger cavity 2, a force sensor 3, a soft finger cavity 4, a fixing ring5, a fixing ring 6, a soft finger cavity 7, a force sensor 8, a soft air tube 9, a soft air tube 10, a soft air tube 11, a wire 12, a control system 13, a force sensor 14, a force sensor 15, a soft finger cavity 16, a fixing ring 17, a fixing ring 18, a soft finger cavity 19, a fixing ring 20, a force sensor 21, a soft palm cavity 22, a soft air tube 23, a soft air tube 24, a soft air tube 25, anair pump 26, a wire 27, a soft robot finger 28, a soft robot finger 29, a soft robot finger 30, a hand module 31, a soft robot finger 32, and a soft robot finger 33. The soft-body robot herein can automatically balance and adjust contact force for an operation object.