  Aerial robots have garnered significant attention due to their potential
applications in various industries, such as inspection, search and rescue, and
drone delivery. Successful missions often depend on the ability of these robots
to grasp and land effectively. This paper presents a novel modular soft gripper
design tailored explicitly for aerial grasping and landing operations. The
proposed modular pneumatic soft gripper incorporates a feed-forward
proportional controller to regulate pressure, enabling compliant gripping
capabilities. The modular connectors of the soft fingers offer two
configurations for the 4-tip soft gripper, H-base (cylindrical) and X-base
(spherical), allowing adaptability to different target objects. Additionally,
the gripper can serve as a soft landing gear when deflated, eliminating the
need for an extra landing gear. This design reduces weight, simplifies aerial
manipulation control, and enhances flight efficiency. We demonstrate the
efficacy of indoor aerial grasping and achieve a maximum payload of 217 g using
the proposed soft aerial vehicle and its H-base pneumatic soft gripper (808 g).
