Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Viko 2.0: A Hierarchical Gecko-inspired Adhesive Gripper with
  Visuotactile Sensor   Robotic grippers with visuotactile sensors have access to rich tactile
information for grasping tasks but encounter difficulty in partially
encompassing large objects with sufficient grip force. While hierarchical
gecko-inspired adhesives are a potential technique for bridging performance
gaps, they require a large contact area for efficient usage. In this work, we
present a new version of an adaptive gecko gripper called Viko 2.0 that
effectively combines the advantage of adhesives and visuotactile sensors.
Compared with a non-hierarchical structure, a hierarchical structure with a
multimaterial design achieves approximately a 1.5 times increase in normal
adhesion and double in contact area. The integrated visuotactile sensor
captures a deformation image of the hierarchical structure and provides a
real-time measurement of contact area, shear force, and incipient slip
detection at 24 Hz. The gripper is implemented on a robotic arm to demonstrate
an adaptive grasping pose based on contact area, and grasps objects with a wide
range of geometries and textures.

13
The categories of this paper are: quant-ph
17
The categories of this paper are: q-fin
21
The categories of this paper are: adap-org
7
The categories of this paper are: hep-th
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The categories of this paper are: q-bio
6
The categories of this paper are: astro-ph
25
The categories of this paper are: patt-sol
4
The categories of this paper are: cond-mat
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The categories of this paper are: supr-con
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The categories of this paper are: nucl-th
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The categories of this paper are: eess
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The categories of this paper are: hep-ex
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The categories of this paper are: funct-an
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The categories of this paper are: hep-lat
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The categories of this paper are: stat
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The categories of this paper are: gr-qc