  We describe a force-controlled robotic gripper with built-in tactile and 3D
perception. We also describe a complete autonomous manipulation pipeline
consisting of object detection, segmentation, point cloud processing,
force-controlled manipulation, and symbolic (re)-planning. The design
emphasizes versatility in terms of applications, manufacturability, use of
commercial off-the-shelf parts, and open-source software. We validate the
design by characterizing force control (achieving up to 32N, controllable in
steps of 0.08N), force measurement, and two manipulation demonstrations:
assembly of the Siemens gear assembly problem, and a sensor-based stacking task
requiring replanning. These demonstrate robust execution of long sequences of
sensor-based manipulation tasks, which makes the resulting platform a solid
foundation for researchers in task-and-motion planning, educators, and quick
prototyping of household, industrial and warehouse automation tasks.
