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Nearly all robotic grippers have one trait in common: they grasp objects with normal forces, either directly, or indirectly through friction. This method of grasping is effective for objects small enough for a given gripper to partially encompass. However, to grasp larger objects, significant grip forces and a high coefficient of friction are required. We present a new grasping method for convex objects, using almost exclusively shear forces. We achieve shear grasping with a gripper thatdoi:10.1109/icra.2015.7139505 dblp:conf/icra/HawkesCHJC15 fatcat:765wlwrqgjamzdkgs5isun3wga