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In this review paper, we are interested in the models and algorithms that allow generic simulation and control of a soft robot. First, we start with a quick overview of modeling approaches for soft robots and available methods for calculating the mechanical compliance, and in particular numerical methods, like real-time Finite Element Method (FEM). We also show how these models can be updated based on sensor data. Then, we are interested in the problem of inverse kinematics, under constraints,doi:10.1371/journal.pone.0251059 pmid:35030170 pmcid:PMC8759680 fatcat:igsjjyai2befdne4jgiuxfqlzy