Fig. 13

The gripper picks up various objects a a bottle (950 g); b a mug (289 g); c a duck toy (61 g); d a book (185 g); e a box (144 g); f square bread loaf (146 g). The gripper was able to lift objects of various shapes by wrapping around them. For the bread, exhausting the inside air of the gripper was stopped at – 3 kPa to avoid crashing after the gripper wrapped the square bread without gaps