The octopus-inspired soft robotic system includes one or more arms with sensorized suction cups. The soft robotic arm is designed for sampling or manipulation of delicate objects in marine environments. The intrinsic softness of the system allows it to safely interact with natural organisms or with collected samples without damaging them. The octopus-like soft system will be integrated with the INM’s Autonomous Surface Vehicle and its control will be driven by an actuation and control unit on board of the ASV. The bioinspired system will operate in a teleoperated or autonomous configuration and adapt its grasping thanks to the embedded sensorised soft suckers and control.