Soft robots enable safe and robust operations in unstructured environments. A classic soft robot is the Soft Inverted Pendulum (SIP), which is pneumatically actuated at the tip. This design solution is usually too complex to be integrated as end-effector in a rigid robot. To tackle this issue, in this Thesis I design the R-Soft Inverted Pendulum. This is a SIP actuated only by a revolute joint at the base. I propose model the proposed system with two approaches: Curvature Approach and Geometrically Exact approach. The former is particularly simple and easy to implement in the classic EoM of a rigid manipulator, but it suffers from numerical issues. The
latter is more complex but guarantees numerical robustness. Additionally, I analysis the system equilibria and its structural properties. Furthermore, I propose a controller based on feedback linearization. Finally, I validate the proposed system through simulations.