The 2nd UMD Workshop on Distributed Sensing, Actuation, and Control for Bio-inspired Soft Robotics was held at the University of Maryland, College Park, MD, on October 3, 2016, co-chaired by Derek Paley (U. Maryland) and Carmel Majidi (Carnegie Mellon). The workshop brought together about 35 scientists, mathematicians, and engineers from a range of STEM disciplines (e.g., neurobiology, applied mathematics, and control theory) for discussions on the fundamental challenges of distributed sensing, actuation, and control of hyperelastic continua. The workshop lasted one day and included a number of short talks and a social event. The talks were organized into four sessions; Sessions 2-4 included a twenty-minute panel discussion at the end of the talks. In this way, the workshop emphasized working discussions on the cutting-edge open research questions rather than research presentations on the state-of-the-art. The meeting brought together researchers from engineering and biological perspectives, academia and government. Additional support was provided by the University of Maryland Department of Aerospace Engineering and the Maryland Robotics Center.