Soft Robots, robots that are constructed out of soft materials or using compliant actuation methods, can operate safely in complex environments without fear of damaging their surroundings or themselves. However, the soft materials and structures can be imprecise and difficult to control. We then developed a discretized constant-curvature model to predict the behavior of planar bending actuators, both under tip load and while pressurized internally. We experimentally verified this model under a range of configurations, using the model to perform open-loop inverse kinematics. These techniques represent a meaningful advancement in understanding and improving soft actuators, allowing them to move with speed and precision while resisting external forces.