Non-contact manipulation at the air-liquid interface holds significant potential for applications in microrobotics, non-invasive assembly, and biochemistry analysis. However, achieving simultaneous position and orientation (pose) control of floating objects remains a considerable challenge, particularly for adaptive control without prior modeling of the objects. Here, we introduce the Vision-based Adaptive Laser Gripper (VALG) system addressing these challenges. By leveraging the distributed thermocapillary flow induced by patterned laser scanning, a pose control strategy based on the equidistant contour scanning laser is proposed and validated. The proposed system relies solely on visual recognition to generate adaptive laser grippers, which achieve static equilibrium to simultaneously constrain the position and orientation of the floating objects. Experimental validation demonstrates the effectiveness of the VALG system in independent position and orientation control, coupled pose control, and path following. The VALG system facilitates smooth, precise, fast, and adaptive pose control of generalized floating objects, establishing it as a universal and versatile platform for non-contact manipulation at the air-liquid interface.

Noncontact manipulation in liquid environments holds significant applications in micro/nanofluidics, microassembly, micromanufacturing, and microrobotics. Achieving compatibility in manipulating both sedimented and floating objects, as well as independently and synergistically manipulating multiple targets, remains a significant challenge. Here, a noncontact manipulator is developed for both sedimented and floating objects using laser-induced thermocapillary convection. Various strategies are proposed based on the distinct responses of sedimented and floating objects. Predefined scanning and “checkpoint” methods facilitate accurate movements of individual and multiple particles, respectively. Ultrafast programmed scanning and laser multiplexing enable independent manipulation and high-throughput ordered distribution of multiple particles. At the air–liquid interface, “laser cage” and “laser wall” are proposed to serve as effective tools for manipulating floating objects, especially with vision-based closed-loop control. Methods and strategies here do not rely on specific features of targets, solvents, and substrates. Multiple examples, including complex path replication, maze traversal, and precise assembly and disassembly, are demonstrated to validate the feasibility of this manipulator. This work provides a versatile platform and a novel methodology for noncontact manipulation in liquid.