Soft limb locomotion is a relatively new and challenging research field. These robots are a good example of the much wider class of bio-inspired soft robots, with the particular advantage of being easy and inexpensive to build and field. Soft limbed limbs belong to the class of underactuated systems and exhibit higher inherent compliance and stiffness modulation than rigid limbed robots and can tolerate a wider range of impacts without compromising either safety or stability. Moreover, minimal ground impact forces are expected because of their light weight construction and inherent compliance.Contrary to rigid robots, soft limbed robots are subjected to elastic deformations that increase the control complexity. Physically, these soft robotic limbs enable new and robust modes of terrain adaptation with relatively simple and inexpensive structures. However, soft limbs can not yet transition to practical application due to difficulties associated with control methods. Traditional control strategies are faced with the daunting task of efficiently computing the control inputs under model uncertainty due to the elastic nature of the construction materials. Soft limb dynamics have to be derived through energy based methods to account for prominent potential energy interaction due to elastic materials used in construction. Hence, it makes practical senses to employ energy based control strategies for soft limbed robots. Energy based control approaches also have the advantage of shaping the system energy so that the resulting closed-loop system has the same physical structure as the original system hence consuming less control effort and being more safe and efficient.