  Soft grippers, for stable grasping of objects, with high compliance could be
considered a suitable candidate for replacement of conventional rigid grippers,
and in recent years, they have been emerging exponentially in industries. Not
only are these highly adaptable grippers capable of static grasping of an
object, but also they can be utilized for performing object manipulation tasks.
Plenty of contemporary studies have been emphasizing on static grasping ability
of soft grippers. However, in this thesis, planar in-hand object manipulation
in a soft gripper which comprises a pair of soft finger is investigated.
