  The Piecewise Constant Curvature (PCC) model is the most widely used soft
robotic modeling and control. However, the PCC fails to accurately describe the
deformation of the soft robots when executing dynamic tasks or interacting with
the environment. This paper presents a simple threedimensional (3D) modeling
method for a multi-segment soft robotic manipulator with non-constant curvature
deformation. We devise kinematic and dynamical models for soft manipulators by
modeling each segment of the manipulator as two stretchable links connected by
a universal joint. Based on that, we present two controllers for dynamic
trajectory tracking in confguration space and pose control in task space,
respectively. Model accuracy is demonstrated with simulations and experimental
data. The controllers are implemented on a four-segment soft robotic
manipulator and validated in dynamic motions and pose control with unknown
loads. The experimental results show that the dynamic controller enables a
stable reference trajectory tracking at speeds up to 7m/s.
