Soft robots, constructed from deformable materials, offer significant advantages over rigid robots by mimicking biological tissues and providing enhanced adaptability, safety, and functionality across various applications. Central to these robots are electroactive polymer (EAP) actuators, which allow large deformations in response to external stimuli. This review examines various EAP actuators, including dielectric elastomers, liquid crystal elastomers (LCEs), and ionic polymers, focusing on their potential as artificial muscles. EAPs, particularly ionic and electronic varieties, are noted for their high actuation strain, flexibility, lightweight nature, and energy efficiency, making them ideal for applications in mechatronics, robotics, and biomedical engineering. This review also highlights piezoelectric polymers like polyvinylidene fluoride (PVDF), known for their flexibility, biocompatibility, and ease of fabrication, contributing to tactile and pressure sensing in robotic systems. Additionally, conducting polymers, with their fast actuation speeds and high strain capabilities, are explored, alongside magnetic polymer composites (MPCs) with applications in biomedicine and electronics. The integration of machine learning (ML) and the Internet of Things (IoT) is transforming soft robotics, enhancing actuation, control, and design. Finally, the paper discusses future directions in soft robotics, focusing on self-healing composites, bio-inspired designs, sustainability, and the continued integration of IoT and ML for intelligent, adaptive, and responsive robotic systems.