United Nations predicts the world population will grow from 7.3 billion to 9.7 billion by 2050, which will increase the food demand and the number of growers drastically. In contrast, framers will need to reach an impressive food production level to feed a growing world population. They need to adopt multifaceted businesses with stunning new technologies to increase efficacy on farms with minimal human resources. Here, we propose a workshop on Agricultural Soft Robotics by aiming to increase soft roboticist, agronomist, and biologist participation. We believe Agricultural Soft Robotics (ASR) could bring a paradigm shift in agricultural technologies and play a vital role in building next-generation fundamental agriculture technologies and exploring related science. ASR could help develop soil sensing and monitoring technologies, in situ root robotic phenotyping and genotyping, delicate and precise high-throughput crop manipulation, specific sensing and design and next-gen harvesting robots. The present workshop aims to bring leading researchers from biology, agronomy and robotics to a single platform and integrate the fundamental science to build a radical agricultural robotics community. We will discuss the state of the art, key challenges and develop the ASR research community to find a new research path through this workshop. The workshop will include a series of presentation sessions on agriculture science, current agricultural robotic technologies, a panel discussion to identify key issues and short poster teaser sessions on key developments.