The rocket can land anywhere in a area of a couple hundred square meters. How would you design the "grippers" to work anywhere on the barge? How would you "gra

The rocket can land anywhere in a area of a couple hundred square meters. How would you design the "grippers" to work anywhere on the barge? How would you "grab" the stage without punching a hole in it? The landing legs aren't all that heavy, are on the first stage (where the mass penalty isn't as bad), and can be engineered to distribute the force through the structure of the stage that can handle it.