  This work introduces TRIGGER, the first lighTweight univeRsal jammInG Gripper
for aErial gRasping. TRIGGER is an omnidirectional, landing-capable aerial
grasping system with resilience and robustness to collisions and inherent
passive compliance. In particular, this work presents the design, fabrication,
and experimental validation of a novel, intelligent, modular, universal jamming
gripper specifically designed for aerial applications. Leveraging recent
developments in particle jamming and soft granular materials, TRIGGER produces
15N of holding force with only a relatively small activation force of 2.5N.
Experiments show the relationship between fill ratio and activation force and
reveal that adding an additive to the membrane's silicone mixture improves the
holding force by up to 52%. The concept is validated by mounting TRIGGER onto a
multicopter performing a pick-and-release task under laboratory conditions.
Based on the experimental data, a model for robotic simulators is introduced to
facilitate future controller developments.
