Dionaea muscipula, the Venus flytrap, is known for its ability to rapidly snap its leaves together to trap prey. However, in addition to this well-known behavior, the plant exhibits very complex sensing and control behavior (for example, it releases a captured object if it is too small or if it does not produce adequate stimulation of the hairs that emerge from the leaf). Nature teems with examples of such complex embodied logic, producing motion and morphological changes in response to specific cues (humidity, light, temperature, etc.) or sequences of cues. These behaviors emerge solely from compositional and structural features rather than from rigid sensors and actuators. Taking inspiration from such movements in plants, we 3D print nonlinear structural designs from materials that swell in response to specific environmental cues (e.g., water or non-polar solvents). Rather than relying on diffusion-limited swelling to produce complex shape changes, which can take minutes or hours, we fabricate nonlinear architectures near bifurcation points, allowing very small amounts of swelling to trigger rapid, large-amplitude shape changes at controlled intervals of time. This approach can be used to produce a rich variety of bioinspired autonomous systems without electronics or control systems. Using solely soft materials as functional elements, the proposed approach enables complex function to occur in response to multiple stimuli.