I. Introduction
Rescue and recovery operations as well as reconnaissance and transport tasks are often challenging and stressful situations for emergency forces and usually also involve a certain potential for danger. Factors such as confined spaces, dense smoke, toxic fumes, enormous heat and explosion hazards, see Fig. 1, make efficient planning and safe implementation of optimized mission strategies difficult. The support of robotic systems with automated functions offers the potential to reduce these stresses and dangers for humans. The prerequisite for this is that such systems have the necessary capabilities for sensing and analyzing the environment and can also use these for the independent implementation of tasks. While many commercially available grippers are intended and designed for industrial applications, the development of gripping tools for mobile manipulation tasks poses additional challenges. Often, the range of possible tasks to be solved by a single gripping system is much larger, with larger variations in object size, material and surface, unpredictable distance - and therefore gripping angles - between object and robot, and varying light and environmental conditions. The gripping system has to be compact and lightweight in order to allow maximum robot mobility and dexterous manipulation [1].