In recent years, dielectric elastomers (DEs) have found novel applications in the field of soft robotics, where compliant and compact actuators with high energy densities are needed. Rolled DEs can be effectively used to achieve muscle-like actuators for soft robots, eliminating the need for external motors while providing at the same time a lightweight structure with self-sensing capabilities. In this paper, we propose a large deformation, energy-based model for rolled DEs which permits to describe the actuator behavior in a lumped-parameter fashion. The model is intended for control and self-sensing applications. After presenting the model equations, a parameter identification is performed and discussed based on experimental data.