Mentaca: An universal jamming gripper on wheels

Versatile robotic grasping is often limited by the local working envelope of robotic arm grippers. The ability to combine large scale displacement with fine positioning of an end effector is desired for mobile robots operating in uncharted environments. In this work we explore the alternative of mounting an universal jamming gripper on top of an omnidirectional mobile platform. We built a mobile platform with a 3-DOF manipulator on top, and explore the modifications required for an universal jamming gripper to become mobile. Although the platform is not fully autonomous yet, it already delivers interesting insights on the implementation of a system capable of combining locomotion with the ability to pick and place small delicate objects. To the best of our knowledge, this is the first realization of an mobile universal jamming gripper.