Vision based grasping system with universal jamming hand

End effectors are a key component for a robotic manipulator in order to manipulate object stably. The universal jamming grippers can hold a wide variety of arbitrarily shaped objects. The jamming grippers consists on a single mass of granular material wrapped in an elastic membrane, and a vacuum pump. The paper deals with a vision based grasping system with two universal jamming grippers. Here, we make the universal jamming grippers and clarify the performance experimentally. The system recognizes objects by a vision component and picks up the specific object by the universal jamming hand without arrangement of the grasping posture.