The goal of this project is to integrate a universal gripper to a modular robot developed at the Laboratory of Bio-Robotic, the Roombot in order to widden the possible interaction with its environement. The gripper consists of an infating membrane filled with granular material that allows various types of objects to be picked up using an air pumping system. Integrating the gripper to the roombot enables it to interact with various daily life object that haven’t been specifically designed for the roombot. It opens, as well, the possibility to interact with human beings thanks to the compliant proprerty of such gripper. Finally, sensorless mid air object passing between two modules will be performed, which is a novelty in the field of modular robotic.