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Although cross\u2010modal grippers combine active and passive modes, they are constrained by inherent conflicts among precision, speed and strength, leading to bidirectional performance degradation. Here, inspired by principles of predation, we propose a strategy to decouple cross\u2010modal grasping via dual morphological configurations. Guided by this strategy, we develop rigid\u2010soft fingers and metamaterial palms. Through coordinated morphological synergy, we achieve optimization and fractal utilization of different grasping mechanisms. In the parallel configuration, the gripper employs an active compliant contact grasping mechanism. The cage configuration employs a soft constraint mechanism for the passive capture paradigm, combining spatial confinement and energy dissipation. Experiments demonstrate enhanced bidirectional grasping of static and dynamic targets, including multi\u2010object storage and transfer, and uncooperative targets capture. This work achieves system\u2010level optimization of grasping modes and multivariate abilities, opening new avenues for soft gripper paradigms.<\/jats:p>","DOI":"10.1002\/advs.75073","type":"journal-article","created":{"date-parts":[[2026,4,2]],"date-time":"2026-04-02T19:12:08Z","timestamp":1775157128000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Bioinspired Morphology\u2010Decoupled Soft Gripper with Enhanced Bidirectional Grasping Capability"],"prefix":"10.1002","volume":"13","author":[{"given":"Yedong","family":"Huang","sequence":"first","affiliation":[{"name":"Shenzhen International Graduate School Tsinghua University  Shenzhen China"},{"name":"Ocean Decade International Cooperation Center  Qingdao China"},{"name":"Fujian Ocean Innovation Center Xiamen China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dazhong","family":"Yu","sequence":"additional","affiliation":[{"name":"School of Mechatronical Engineering Beijing Institute of Technology Beijing China"},{"name":"State Key Laboratory of Explosion Science and Safety Protection School of Mechatronical Engineering Beijing Institute of Technology  Beijing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Baijin","family":"Mao","sequence":"additional","affiliation":[{"name":"Shenzhen International Graduate School Tsinghua University  Shenzhen China"},{"name":"Ocean Decade International Cooperation Center  Qingdao China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Fangming","family":"Li","sequence":"additional","affiliation":[{"name":"Shenzhen International Graduate School Tsinghua University  Shenzhen China"},{"name":"Ocean Decade International Cooperation Center  Qingdao 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