  Granular grippers can manipulate a wide variety of objects, but need to be
pressed on the object to conform to it. If the object is placed on unstable
ground, e.g., on sand or water, this step might cause the object to sink or
move away from the gripper, hindering proper operation. We introduce a granular
gripper with an integrated suction cup, where suction and jamming are
controlled independently. We demonstrate the system's robust and enhanced
gripping capabilities by comparing its grasping performance with a typical
granular gripper design. We show that the proposed device can grip objects that
are challenging for typical granular grippers, including those placed on
unstable ground, as the suction cup stabilizes the object, allowing the gripper
to conform.
