The general concepts announced in the title of this little book are treated only in the framework of articulated or soft robots. The main contribution is Chapter 1: Carrying out the task of articulated robot‘s trajectory tracking and obstacle avoidence simultaneously. The two objectives are transformed into a single optimization problem with a penalty term based on a threshold for the minimal distance of the robot and some obstacle. Distance is measured by the GJK algorithm. The proposed method is evaluated by the KUKA simulation program. The shorter Chapters 2 and 3 deal with soft agents. Fuzzy control mechanism are shown to be well suited. An oscillation mechanism without any mechanical overhead is presented. In the final Chapter 4, a dual DC-motor system for the control of articulated robots is introduced and experimental results concerning bandwidth vs accuracy are shown.