The field of soft robotics is a relatively new one which has recently developed thanks to the solutions it offers to the limitations of rigid robots: these include the wider possibilities they have in the area of human-robot interaction since their soft and lightweight bodies are intrinsically safe for humans. The biggest effort of the research community has been on the development of innovative materials and designs to build new soft robots but designing controllers that are employable for them is still an open challenge. This is due to the fact that the control and modelling paradigms used on rigid robots are not applicable on soft robots because of their highly nonlinear dynamics which are difficult to model on account of the small degree of stochasticity they often incorporate.