The goal of this research is to extend my research on the soft-limbed robot a step closer to mimic muscular octopuses. Instead of the lightweight rigid body present in the earlier prototypes, a compliant soft body will be included.Soft bodied robots provide a new paradigm with respect to the more “classical” rigid limbed robots. I have designed, developed and fielded soft continuum limbed robot with a rigid body. Although there is significant novelty in incorporating soft limbs, the rigid body is a drawback in highly penetrative tasks. Hence I am interested in developing a complete soft robot, body and limbs, to step towards to mimic a muscular hydrostats such as octopuses and squids. The research in done in collaboration with Prof. Ian D. Walker at Clemson University. The expected robot will provide a novel, first of its kind, complete soft robot with soft limbs with omni-directional workspace that can generate a range of locomotion gaits. In addition to the primary application as a walking robot, it can also act as an adaptive, gripper or anchorage on demand. This robot will then be an ideal candidate for search and rescue mission in highly congested terrains such as building rubble after a natural disaster.