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I found video from Akiyuki Brick Channel with a very interesting looking LEGO tentacle assembly. It looks like it has quite a lot of motion, and it only has four motors.
Each motor controls a stage of the machine – driving what is essentially a turntable, but with each motorised part set at 45 degrees.
Based on the combination of each rotary section, the tentacle is able to do some quite interesting motions as it reconfigures itself. There are lots of other really great builds in this channel, so you should check it out.
A similar mechanism has been used in the Rolls-Royce LiftSystem to thrust vector thrust a jet engine, and you can check that article out on Wikipedia.
I’ve built quite a few walking robots, but I really liked the way the tentacle moved, so this made me think about whether I could make robot legs that worked in a similar way, and how easy it would be to control them.

Allen Pan:    • giving snakes there legs back.  
Akiyuki Brick:    • LEGO Oblique swivel joint mechanisms  

CAD & Code: https://github.com/XRobots/Tentacles

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Merchandise: https://teespring.com/stores/james-br...
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CAD and Code for my projects: https://github.com/XRobots

Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon.

HARDWARE/SOFTWARE

Below you can also find a lot of the typical tools, equipment and supplies used in my projects:

Filament from: https://www.3dfuel.com/
Lulzbot 3D Printers: http://bit.ly/2Sj6nil
Bearings from: https://simplybearings.co.uk/
Lincoln Electric Welder: https://bit.ly/2Rqhqos
CNC Router: https://bit.ly/2QdsNjt
Ryobi Tools: http://bit.ly/2RhArcD
Axminster Micro Lathe: http://bit.ly/2Sj6eeN
3D Printer Filament: http://bit.ly/2PdcdUu
Soldering Iron: http://bit.ly/2DrNWDR
Vectric CNC Software: http://bit.ly/2zxpZqv

Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything:   / 287089964833488  

XROBOTS

Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.

XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.