Stimuli-responsive hydrogels that exhibit reversible changes in response to stimulus cues such as heat, pH, and light have been utilized in soft robotics, microfluidics, electronics, and biomedical surgical tools. While the development of the soft robotics has widely expanded, most external triggering systems still have limited utilities due to the low selectivity. We present a hybrid gripper capable of undergoing preprogrammed shape trans-formation utilizing ultrasound energy on−off processes as the external triggering system, which can be utilized in invisible and n0nselective environments. Furthermore, we describe the magnetic ocomotion of the soft gripper enabled by the introduction of iron oxide (Fe2O3) ferrogel. By integrating these dual ultrasonic and magnetic control systems, we demonstrate the soft gripper could actively and safely perform pick-and-place tasks on a biological salmon roe in the aqueous maze environment. We expect that this study can provide the groundwork for the further important advances to the creation of ultrasound-responsive shape programmable and multifunctional smart soft robots.