  Purpose of Review: This review provides an overview of the state of the art
in bioinspired soft robotics with by examining advancements in actuation,
functionality, modeling, and control. Recent Findings: Recent research into
actuation methods, such as artificial muscles, have expanded the functionality
and potential use of bioinspired soft robots. Additionally, the application of
finite dimensional models has improved computational efficiency for modeling
soft continuum systems, and garnered interest as a basis for controller
formulation. Summary: Bioinspiration in the field of soft robotics has led to
diverse approaches to problems in a range of task spaces. In particular, new
capabilities in system simplification, miniaturization, and untethering have
each contributed to the field's growth. There is still significant room for
improvement in the streamlining of design and manufacturing for these systems,
as well as in their control.
