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The combination of locomotion and grasping capabilities entails a unique set of challenges in soft robotics that have not been fully explored yet, such as the capability to carry a payload without compromising its motion capabilities, and how to adjust changes in the center of mass of the robot. Herein, a soft robotic platform is proposed that demonstrates simultaneous locomotion and grasping. The challenges that such a soft robot would encounter are explored in terms of stability of the robot while supporting a payload and variations in the location of the center of mass. The robot has 13 independently controllable degrees of freedom to study different locomotion and grasping strategies. 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