An example apparatus of the present disclosure may include an end effector. The end effector may include a pair of actuator-driven fingers that each include a compliant tip. The compliant tips may be used to scoop underneath items as part of item manipulation.

Apparatuses including compliant tips and methods of manipulating items using the compliant tips are described herein. An example apparatus may include a robotic manipulator and a pair of end effectors. One end effector may include a pair of actuator-driven fingers that each include a compliant tip. The compliant tips may be used to scoop underneath items as part of item manipulation.