A mooring system for automatic mooring of a vessel to a quay structure comprising - a mooring line comprising a first mooring line end and a second mooring line end, - an attachment system for retrievable attachment to a bollard on the quay structure, the attachment system comprising a mooring loop having a minimum opening size sufficient to allow the bollard to enter therethrough, and a mooring line connector connecting the mooring loop to the first mooring line end and a resilient material extending along at least a part of the length set up by the mooring loop, - a winch for winching the mooring line, wherein the second mooring line end of the mooring line is at least indirectly attached to the winch and - a robotic arm comprising an outer robotic arm section with a gripper assembly at a first longitudinal end, wherein the gripper assembly is configured to releasably grip the mooring line connector to allow transfer of the attachment system from one location to another, characterized in that the gripper assembly comprises a first rotary device rotatably fixed to the first longitudinal end of the outer robotic arm section and a second rotary device rotatably fixed to the first rotary device with an axis of rotation different to the axis of rotation of the first rotary device, and further in that the mooring loop has a breaking load of more than 80 kN at 298 K and is configured such that the mooring loop regains its initial shape after removal of a load of more than 30 kN at 298 K to which it has been exposed for at least 1 hour. - a mooring line comprising a first mooring line end and a second mooring line end, - an attachment system for retrievable attachment to a bollard on the quay structure, the attachment system comprising a mooring loop having a minimum opening size sufficient to allow the bollard to enter therethrough, and a mooring line connector connecting the mooring loop to the first mooring line end and a resilient material extending along at least a part of the length set up by the mooring loop, a mooring loop having a minimum opening size sufficient to allow the bollard to enter therethrough, and a mooring line connector connecting the mooring loop to the first mooring line end and a resilient material extending along at least a part of the length set up by the mooring loop, - a winch for winching the mooring line, wherein the second mooring line end of the mooring line is at least indirectly attached to the winch and - a robotic arm comprising an outer robotic arm section with a gripper assembly at a first longitudinal end, wherein the gripper assembly is configured to releasably grip the mooring line connector to allow transfer of the attachment system from one location to another, characterized in that the gripper assembly comprises a first rotary device rotatably fixed to the first longitudinal end of the outer robotic arm section and a second rotary device rotatably fixed to the first rotary device with an axis of rotation different to the axis of rotation of the first rotary device, and further in that the mooring loop has a breaking load of more than 80 kN at 298 K and is configured such that the mooring loop regains its initial shape after removal of a load of more than 30 kN at 298 K to which it has been exposed for at least 1 hour. characterized in that the gripper assembly comprises a first rotary device rotatably fixed to the first longitudinal end of the outer robotic arm section and a second rotary device rotatably fixed to the first rotary device with an axis of rotation different to the axis of rotation of the first rotary device, and further in that the mooring loop has a breaking load of more than 80 kN at 298 K and is configured such that the mooring loop regains its initial shape after removal of a load of more than 30 kN at 298 K to which it has been exposed for at least 1 hour.