Traversing over nested parameters in rails 4

Is there a way to traverse over parameters in rails? I have a nested params:

"request"=>{"name"=>"Gianni Hayes",
   "address"=>"5858 Bernhard Burgs",
   "phone"=>"(972) 399-9601",
   "mobile"=>"777 777 01 02",
   "filled_cartridges_attributes"=>{
      "0"=>{
         "cartridge_id"=>"HP laserjet 300",
         "_destroy"=>"false"}
          },
 "description"=>"sakld",
 "responsible"=>"15",

There might be many "filled_cartridges_attributes, so i need to iterate through them in controller.