Matthew Borgatti, whose pop-up, MIDI-controlled Anywhere Organ made an appearance at the 2011 World Maker Faire in NYC, has also been pursuing 3D-printed tentacle-bots for some time now. His most recent iteration was recently completed and you can see it in action, below. Further details of the project can be found here.
I’ve been exploring new ways to make durable, flexible, inexpensive soft robots. Here are some experiments in creating a hollow silicone tentacle with three internal air chambers that allow it to rotate 360 deg.