Dielectric elastomer actuators (DEAs) are smart structures that operate similarly to muscles and are an ideal material for soft robotics. Their mechanism is electromechanical, allowing for rapid and precise actuation control. DEAs require high-voltage for the actuation, which complicates their control. We apply semiconductor-like devices, so-called dielectric elastomer switches (DESs), and develop DE-electronic Networks that operate in the same voltage range. These circuits perform functions such as memory and computation, similar to traditional electronics, and can replace rigid control systems in soft robots (e.g., pneumatic or conventional electronic circuits). The design of the peristaltic robot based on DEA utilizes the expansion and contraction of DEAs to provide forward motion. By integrating DEAs and DE oscillators (DEOs) into the robot, we can achieve control over the robot using DE networks. We introduce a novel robot design incorporating a complex DE network with DEO. This design enables the robot to execute locomotion functions and, by adjusting the oscillation frequencies of the DEOs, allows for more complex movement patterns. Additionally, we have employed ink-jet printing technology in the manufacturing process, allowing for precise control over mass and making the circuit's activation behavior more stable. Our project aims to combine DE circuits with soft robotics technology to make future soft robots more complex, complete, and intelligent. This peristaltic robot as a demonstrator shows that the combination of flexible robots and flexible circuits is meaningful.