Existing grasping technologies have persistent challenges with unstructured objects and environments, highlighting an increasing demand for methods that conform to various application scenarios. Inspired by the chameleon tongue, a soft-contact grasping manipulator empowered by a class of adhesive gels has been demonstrated. The adhesives enable the manipulator to rapidly and strongly adhere to diverse substrates with varied surfaces, shapes and sizes, also to release objects under mild conditions. The robustness of such adhesive gels was highlighted with the remarkable recyclability, broad temperature tolerance and long-term stability. Furthermore, a general approach was developed to reconcile the contradiction of simultaneously enhancing their interfacial adhesion and cohesion strength that exists in conventional glues. We anticipate that this work will offer a strategy of developing adhesive materials and pave the way towards new applications of soft materials in the emerging fields of soft robotic devices and smart manufacturing.