I'm trying to CAD a soft robot like the one shown below.

After sketching and extruding the outline, I would like to do the individual air channels in the legs.

However, as the legs are tapered, I can't draw rectangles then do a linear pattern. My question is, what tools could I use so that i get something like the picture above? I'm sorry if my question isn't clear, I've tried to ask it as clearly as I could think.