Learning from the versatility and robustness of bodies in nature, robotic devices are moving away from the traditional rigid form to designs that intentionally and carefully incorporate compliance. We will explore this emerging paradigm of robots by 1) understanding and analytically modeling subcomponents, such as soft actuators, sensors, and bodies, 2) examining current literature and gleaning design principles, and 3) designing and fabricating in a hands-on setting. This course includes a final group project; students are expected to design, model, fabricate, and test either a subcomponent or a full soft robot. Analytical modeling will be at an advanced undergraduate level.