Deploying robots in space has been difficult due to safety concerns and the need to operate in confined weightless environments that are complex and 3-dimensional. Some of these concerns can be addressed by deploying soft robots that can change shape, attach to surfaces and climb robustly independent of gravity. These capabilities are already found in soft animals such as caterpillars that move by controlling body deformation instead of actuated joints. To understand some control issues associated with this lack of articulation, we created a soft robot platform as a reduced physical model of a caterpillar. is paper describes and discusses a collection of design concepts that influenced the fabrication and operation of these soft robots to illustrate some advantages and constraints of deploying soft robots in space.