Soft robotic systems have recently been considered as a new approach that is in principle better suited for tasks where safety and adaptability are important. That is because soft materials are inherently compliant and resilient in the event of collisions. They are also lightweight and can be low-cost; in general, soft robots have the potential to achieve many tasks that were not previously possible with traditional robotic systems. In this paper, we propose a new manufacturing process for creating multi-chambered pneumatic actuators and robots. We focus on using fabric as the primary structural material, but plastic films can be used instead of textiles as well. We introduce two different methods to create layered bellows actuators, which can be made with a heat press machine or in an oven. We also describe origami-like actuators with possible corner structures. Moreover, the fabrication process permits the creation of soft and soft/rigid hybrid robotic systems, and enables the easy integration of sensors into these robots. We analyze various textiles that are possibly used with this method, and model bellows actuators including operating force, restoring force, and estimated geometry with multiple bellows. We then demonstrate the process by showing a bellows actuator with an embedded sensor and other fabricated structures and robots. We next present a new design of a multi-DOF soft/rigid hybrid robotic manipulator. It contains a revolute actuator and several roll-pitch actuators which are arranged in series. To control the manipulator, we use a new variant of the piece-wise constant curvature (PCC) model. The robot can be controlled using forward and inverse kinematics with embedded inertial measurement units (IMUs). A bellows actuator, which is a subcomponent of the manipulator, is modeled with a variable-stiffness spring, and we use the model to predict the behavior of the actuator. With the model, the roll-pitch actuator stiffnesses are measured in all directions through applying forces and torques. The stiffness is used to predict the behavior of the end effector. The robotic system introduced achieved errors of less than 5% when compared to the models, and positioning accuracies of better than 1cm. / Doctor of Philosophy / Future robotic systems are expected to deal with many tasks in real-world environments. The natural environment is highly unpredictable and unstructured, making manipulation and locomotion challenging for robots. Robots need to rely on adaptability, reconfigurability, and safety. Soft robotic systems have recently been considered as a new approach that is in principle better suited for tasks where safety and adaptability are important. That is because soft materials are inherently compliant and resilient in the event of collisions. They are also lightweight and can be low-cost; in general, soft robots have the potential to achieve many tasks that were not previously possible with traditional robotic systems. In this paper, we propose a new manufacturing process for creating multi-chambered pneumatic actuators and robots. We focus on using fabric as the primary structural material, but plastic films can be used instead of textiles as well. We introduce two different methods to create layered bellows actuators, which can be made with a heat press machine or household iron, or in an oven. We also describe origami-like actuators with possible corner structures. Moreover, the fabrication process permits the creation of soft and soft/rigid hybrid robotic systems, and enables the easy integration of sensors into these robots. We analyze various textiles that can be used with this method, and make models of bellows actuators including their operating force, restoring force, and estimated geometry with multiple bellows. We then demonstrate the process by showing a bellows actuator with an embedded sensor and other fabricated structures and robots. We next present a new design of a multi-DOF soft/rigid hybrid robotic manipulator. It contains a revolute actuator and several roll-pitch actuators which are arranged in series. To control the manipulator, we use a new variant of the piece-wise constant curvature (PCC) model. The robot can be controlled using forward and inverse kinematics with embedded inertial measurement units (IMUs). A bellows actuator, which is a subcomponent of the manipulator, is modeled with a variable-stiffness spring, and we use the model to predict the behavior of the actuator. With the model, the roll-pitch actuator stiffnesses are measured in all directions through applying forces and torques. The stiffness is used to predict the behavior of the end effector.