Abstract: A robot gripper comprises a palm and first and second fingers connected to said palm that have gripping surfaces facing each other for gripping an object between them and that are displaceable with respect to each other along a first axis normal to said gripping surfaces. The palm further carries at least a third finger having a support surface, wherein, when the gripper is in a use pose in which the support surface is oriented horizontally and facing upward, the first axis is also horizontal and the gripping surfaces are located above the support surfaces.