This mechanism is able to function as both a wheel and a gripper. It uses the same actuator for both functionalities. It transition between its two motion modes by passing through an exceptional input singularity. H. Luo, J. Cui, M. Plecnik, and B. Goodwine, 2025. “A Wheel-Gripper: Enabling Multifunctionality through Factorability”, IEEE Robotics and Automation Letters (RA-L) https://doi.org/10.1109/LRA.2025.3615023

The proceeding 3 videos describe the kinematic modes of the wheel-gripper, and how footage of experimental gripping and normal force testing.