Soft robots being one of the most diverse fields in robotics, these robots are robust, flexible and allow for a highly diverse field of implementation and movement. The property to withstand force and to perform actions The major problem with wheeled bots and bipeds is that they are not versatile enough to adapt and work. The major problem with other soft robots is that they require external supply and external wiring which strains the motion and strains the path of the robot while functioning. This not only makes the robot bounded but also makes it restrained to a standard structure. The motion and path planning of the robot is constrained because of the wires. like walking and moving are one of the key features that can be seen in all these robots. The major advantage of these robots includes versatile design and multi-terrain property. The motion and movement of these robots are usually actuated using actuators and motion controllers. Major design implementation and major functionality added to all these actuators is related with the type of motion it needs to perform. The proposed design is solving the problem of linear motion and linear motion underwater and on the ground. © 2021 Bharati Vidyapeeth, New Delhi. Copy Right in Bulk will be transferred to IEEE by Bharati Vidyapeeth.