The term “soft robots” designs a broad class of robotic systems whose architecture includes soft elements, with much higher elasticity than traditional rigid robots. Articulated Soft Robots are robots with both soft and rigid parts, inspired to the muscle-skeletal system of vertebrate animals – from reptiles to birds to mammalians to humans. Compliance is typically concentrated in actuators, transmission and joints (corresponding to muscles, tendons and articulations) while structural stability is provided by rigid or semi-rigid links (corresponding to bones in vertebrates).