Patent Publication Number: US-2022219317-A1

Title: Robotic system with gripping mechanism

Description:
CROSS-REFERENCE TO RELATED APPLICATION(S) 
     The present application claims the benefit of U.S. Provisional Patent Application No. 63/136,207, filed Jan. 12, 2021, the entirety of which is incorporated herein by reference. 
    
    
     TECHNICAL FIELD 
     The present technology related generally to robotic systems with gripping mechanisms, and more specifically to robotic systems with gripping mechanisms having a controllable, variable pitch. 
     BACKGROUND 
     With their ever-increasing performance and lowering cost, many robots (e.g., machines configured to automatically/autonomously execute physical actions) are now extensively used in many fields. Robots, for example, can be used to execute various tasks (e.g., manipulate or transfer an object through space) in manufacturing and/or assembly, packing and/or packaging, transport and/or shipping, etc. In executing the tasks, the robots can replicate human actions, thereby replacing or reducing human involvements that are otherwise required to perform dangerous or repetitive tasks. 
     However, despite the technological advancements, robots often lack the sophistication necessary to duplicate human interactions required for executing larger and/or more complex tasks. Accordingly, there remains a need for improved techniques and systems for managing operations and/or interactions between robots. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an illustration of an example environment in which a robotic system with a gripping mechanism can operate in accordance with some embodiments of the present technology. 
         FIG. 2  is a block diagram illustrating the robotic system of  FIG. 1  in accordance with some embodiments of the present technology. 
         FIG. 3  is a side view of a robotic system having an object gripping assembly with controllable, variable pitch setting mechanisms in accordance with some embodiments of the present technology. 
         FIGS. 4A and 4B  are isometric views of the object gripping assembly in accordance with some embodiments of the present technology. 
         FIG. 5  is an isometric view of a pitch adjustment component in accordance with some embodiments of the present technology. 
         FIGS. 6 and 7  are isometric views of a stopping mechanism for a pitch adjustment component in accordance with some embodiments of the present technology. 
         FIGS. 8A and 8B  are isometric views of the pitch adjustment component at various pitch settings in accordance with some embodiments of the present technology. 
         FIGS. 9-11  are isometric views of the object gripping assembly at various operational parameters in accordance with some embodiments of the present technology. 
         FIG. 12  is a flow diagram of a process for operating an object gripping assembly at various operational parameters in accordance with some embodiments of the present technology. 
         FIG. 13  is a flow diagram of a process for setting minimum and/or maximum operation settings for an object gripping assembly in accordance with some embodiments of the present technology. 
     
    
    
     The drawings have not necessarily been drawn to scale. Similarly, some components and/or operations can be separated into different blocks or combined into a single block for the purpose of discussion of some of the implementations of the present technology. Moreover, while the technology is amenable to various modifications and alternative forms, specific implementations have been shown by way of example in the drawings and are described in detail below. The intention, however, is not to limit the technology to the particular implementations described. On the contrary, the technology is intended to cover all modifications, equivalents, and alternatives falling within the scope of the technology as defined by the appended claims. 
     DETAILED DESCRIPTION 
     Overview 
     Object gripping assemblies having a variable pitch, and methods for operating the same, are disclosed herein. In some embodiments, the object gripping assembly includes a first carrying plate with an upper surface and a lower surface. The upper surface can include a flange configured to connect to a robotic arm or other suitable positioning mechanism while the lower surface can include one or more first mounting tracks extending along a first axis (e.g., in an x-direction). The first mounting track(s) can slidably carry a plurality of second carrying plates. Each of the second carrying plates can include one or more second mounting tracks extending along a second axis (e.g., in a y-direction) at least partially orthogonal to the first axis. A plurality of extendable gripping components are slidably carried by the second mounting track(s). The first carrying plate can also carry a first pitch adjustment plate that is operably coupled to the second carrying plates. The position of the first pitch adjustment plate controls the pitch of the second carrying plates in the first axis. Accordingly, movement of the first pitch adjustment plate controllably adjusts the pitch of the plurality of second carrying plates. Additionally, or alternatively, each of the second carrying plates can carry a plurality of second pitch adjustment plates that is operably coupled to the extendable gripping components on the corresponding second carrying plate. The position of the second pitch adjustment plate controls the pitch of the extendable gripping components in the second axis. Accordingly, movement of the second pitch adjustment plate controllably adjusts the pitch of the extendable gripping components. 
     In some embodiments, the object gripping assembly includes a first expandable component operably coupled between the first pitch adjustment plate and the first carrying plate. As the first expandable component expands (or contracts), the first expandable component adjusts the position of the first pitch adjustment plate with respect to the first carrying plate. Accordingly, the expansion (or contraction) of the first expandable component can controllably adjust the pitch of the second carrying plates along the first axis. 
     Similarly, in some embodiments, the object gripping assembly includes a plurality of second expandable components operably coupled between a corresponding second pitch adjustment plate and second carrying plate. As the second expandable components expand (or contract), the second expandable components adjust the position of the second pitch adjustment plates with respect to the second carrying plates. Accordingly, the expansion (or contraction) of the second expandable components can controllably adjust the pitch of the extendable gripping components along the second axis. In some such embodiments, each of the second carrying plates includes one or more vertical mounting tracks extending in a vertical axis (e.g., in a z-direction) at least partially orthogonal to both of the first axis and the second axis. The second pitch adjustment plates can be slidably carried by the vertical mounting track(s) on the corresponding second carrying plate at a position set by the second expandable components. 
     In some embodiments, one or more of the second carrying plates includes one or more stopper components that are operable between an engaged position and a disengaged position. In the engaged position, the stopper components prevent movement of a corresponding second pitch adjustment plate beyond a position predetermined by a location of the stopper component. By preventing movement beyond the predetermined position, the stopper components can set a minimum and/or maximum pitch for the extendable gripping components. In some embodiments, the predetermined position can be adjusted as desired (e.g., before, while, or after engaging the stopper component), allowing the minimum and/or maximum pitch to be readily adjusted. In some embodiments, one or more of the second carrying plates includes two stopper components, allowing a first stopper component to set a maximum pitch for the extendable gripping components and a second stopper to set a minimum pitch. 
     In various embodiments, each of the extendable gripping components can include a gripping component such as a suction element, a vacuum port, a magnetic component, a pneumatic gripper, a robotic gripper, and/or any other suitable component. In some embodiments, a first subset of the extendable gripping components have a first gripping component (e.g., a suction element) while a second subset of the extendable gripping components have a second gripping component (e.g., a magnetic element). Further, in some embodiments, each of the extendable gripping components is independently extendable and/or actuatable to grip and release objects, allowing any subset of the extendable gripping components to be operated at a given time. As a result, the object gripping assembly can customize the pitch of the extendable gripping components and/or the total number of the extendable gripping components operating at a time. 
     For ease of reference, the object gripping assembly is sometimes described herein with reference to top and bottom, upper and lower, upwards and downwards, x-y directions, z-direction, horizontal, or vertical plane relative to the spatial orientation of the embodiments shown in the figures. It is to be understood, however, that the object gripping assembly can be moved to, and used in, different spatial orientations without changing the structure and/or function of the disclosed embodiments of the present technology. 
     Further, several details describing structures or processes that are well-known and often associated with robotic systems and subsystems, but that can unnecessarily obscure some significant aspects of the disclosed techniques, are not set forth in the following description for purposes of clarity. Moreover, although the following disclosure sets forth several embodiments of different aspects of the present technology, several other embodiments can have different configurations or different components than those described in this section. Accordingly, the disclosed techniques can have other embodiments with additional elements or without several of the elements described below. 
     Many embodiments or aspects of the present disclosure described below can take the form of computer-executable or controller-executable instructions, including routines executed by a programmable computer or controller. Those skilled in the relevant art will appreciate that the disclosed techniques can be practiced on computer or controller systems other than those shown and described below. The techniques described herein can be embodied in a special-purpose computer or data processor that is specifically programmed, configured, or constructed to execute one or more of the computer-executable instructions described below. Accordingly, the terms “computer” and “controller” as generally used herein refer to any data processor and can include Internet appliances and handheld devices, including palm-top computers, wearable computers, cellular or mobile phones, multi-processor systems, processor-based or programmable consumer electronics, network computers, mini computers, and the like. Information handled by these computers and controllers can be presented at any suitable display medium, including a liquid crystal display (LCD). Instructions for executing computer- or controller-executable tasks can be stored in or on any suitable computer-readable medium, including hardware, firmware, or a combination of hardware and firmware. Instructions can be contained in any suitable memory device, including, for example, a flash drive, USB device, and/or other suitable medium. 
     The terms “coupled” and “connected,” along with their derivatives, can be used herein to describe structural relationships between components. It should be understood that these terms are not intended as synonyms for each other. Rather, in particular embodiments, “connected” can be used to indicate that two or more elements are in direct contact with each other. Unless otherwise made apparent in the context, the term “coupled” can be used to indicate that two or more elements are in either direct or indirect (with other intervening elements between them) contact with each other, or that the two or more elements co-operate or interact with each other (e.g., as in a cause-and-effect relationship, such as for signal transmission/reception or for function calls), or both. 
     Example Environment for Robotic System 
       FIG. 1  is an illustration of an example environment in which a robotic system  100  with an object handling mechanism can operate. The operating environment for the robotic system  100  can includes one or more structures, such as robots or robotic devices, configured to execute one or more tasks. Aspects of the object handling mechanism can be practiced or implemented by the various structures and/or components. 
     In the example illustrated in  FIG. 1 , the robotic system  100  can include an unloading unit  102 , a transfer unit  104 , a transport unit  106 , a loading unit  108 , or a combination thereof in a warehouse, a distribution center, or a shipping hub. Each of the units in the robotic system  100  can be configured to execute one or more tasks. The tasks can be combined in sequence to perform an operation that achieves a goal, for example, such as to unload objects from a vehicle, such as a truck, trailer, a van, or train car, for storage in a warehouse or to unload objects from storage locations and load them onto a vehicle for shipping. In another example, the task can include moving objects from one location, such as a container, bin, cage, basket, shelf, platform, pallet, or conveyor belt, to another location. Each of the units can be configured to execute a sequence of actions, such as operating one or more components therein, to execute a task. 
     In some embodiments, the task can include interaction with a target object  112 , such as manipulation, moving, reorienting or a combination thereof, of the object. The target object  112  is the object that will be handled by the robotic system  100 . More specifically, the target object  112  can be the specific object among many objects that is the target of an operation or task by the robotics system  100 . For example, the target object  112  can be the object that the robotic system  100  has selected for or is currently being handled, manipulated, moved, reoriented, or a combination thereof. The target object  112 , as examples, can include boxes, cases, tubes, packages, bundles, an assortment of individual items, or any other object that can be handled by the robotic system  100 . 
     As an example, the task can include transferring the target object  112  from an object source  114  to a task location  116 . The object source  114  is a receptacle for storage of objects. The object source  114  can include numerous configurations and forms. For example, the object source  114  can be a platform, with or without walls, on which objects can be placed or stacked, such as a pallet, a shelf, or a conveyor belt. As another, the object source  114  can be a partially or fully enclosed receptacle with walls or lid in which objects can be placed, such as a bin, cage, or basket. In some embodiments, the walls of the object source  114  with the partially or fully enclosed can be transparent or can include openings or gaps of various sizes such that portions of the objects contained therein can be visible or partially visible through the walls. 
       FIG. 1  illustrates examples of the possible functions and operations that can be performed by the various units of the robotic system  100  in handling the target object  112  and it is understood that the environment and conditions can differ from those described hereinafter. For example, the unloading unit  102  can be a vehicle offloading robot configured to transfer the target object  112  from a location in a carrier, such as a truck, to a location on a conveyor belt. Also, the transfer unit  104 , such as a palletizing robot, can be configured to transfer the target object  112  from a location on the conveyor belt to a location on the transport unit  106 , such as for loading the target object  112  on a pallet on the transport unit  106 . In another example, the transfer unit  104  can be a piece-picking robot configured to transfer the target object  112  from one container to another container. In completing the operation, the transport unit  106  can transfer the target object  112  from an area associated with the transfer unit  104  to an area associated with the loading unit  108 , and the loading unit  108  can transfer the target object  112 , such as by moving the pallet carrying the target object  112 , from the transfer unit  104  to a storage location, such as a location on the shelves. Details regarding the task and the associated actions are described below. 
     For illustrative purposes, the robotic system  100  is described in the context of a shipping center; however, it is understood that the robotic system  100  can be configured to execute tasks in other environments or for other purposes, such as for manufacturing, assembly, packaging, healthcare, or other types of automation. It is also understood that the robotic system  100  can include other units, such as manipulators, service robots, modular robots, that are not shown in  FIG. 1 . For example, in some embodiments, the robotic system  100  can include a depalletizing unit for transferring the objects from cages, carts, or pallets onto conveyors or other pallets, a container-switching unit for transferring the objects from one container to another, a packaging unit for wrapping the objects, a sorting unit for grouping objects according to one or more characteristics thereof, a piece-picking unit for manipulating the objects differently, such as sorting, grouping, and/or transferring, according to one or more characteristics thereof, or a combination thereof. 
     The robotic system  100  can include a controller  109  configured to interface with and/or control one or more of the robotic units. For example, the controller  109  can include circuits (e.g., one or more processors, memory, etc.) configured to derive motion plans and/or corresponding commands, settings, and the like used to operate the corresponding robotic unit. The controller  109  can communicate the motion plans, the commands, settings, etc. to the robotic unit, and the robotic unit can execute the communicated plan to accomplish a corresponding task, such as to transfer the target object  112  from the object source  114  to the task location  116 . 
     Suitable System 
       FIG. 2  is a block diagram illustrating the robotic system  100  in accordance with one or more embodiments of the present invention. In some embodiments, for example, the robotic system  100  can include electronic devices, electrical devices, or a combination thereof, such as a control unit  202  (sometimes also referred to herein as a “processor  202 ”), a storage unit  204 , a communication unit  206 , a system input/output (I/O) device  208  having a system interface  210  (sometimes also referred to herein as a “user interface  210 ”), one or more actuation devices  212 , one or more transport motors  214 , one or more sensor units  216 , or a combination thereof that are coupled to one another, integrated with or coupled to one or more of the units or robots described in  FIG. 1  above, or a combination thereof. 
     The control unit  202  can be implemented in a number of different ways. For example, the control unit  202  can be a processor, an application specific integrated circuit (ASIC), an embedded processor, a microprocessor, a hardware control logic, a hardware finite state machine (FSM), a digital signal processor (DSP), or a combination thereof. The control unit  202  can execute software and/or instructions to provide the intelligence of the robotic system  100 . 
     The control unit  202  can be operably coupled to the user interface  210  to provide a user with control over the control unit  202 . The user interface  210  can be used for communication between the control unit  202  and other functional units in the robotic system  100 . The user interface  210  can also be used for communication that is external to the robotic system  100 . The user interface  210  can receive information from the other functional units or from external sources, or can transmit information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations external to the robotic system  100 . 
     The user interface  210  can be implemented in different ways and can include different implementations depending on which functional units or external units are being interfaced with the user interface  210 . For example, the user interface  210  can be implemented with a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), optical circuitry, waveguides, wireless circuitry, wireline circuitry, application programming interface, or a combination thereof. 
     The storage unit  204  can store the software instructions, master data, tracking data or a combination thereof. For illustrative purposes, the storage unit  204  is shown as a single element, although it is understood that the storage unit  204  can be a distribution of storage elements. Also for illustrative purposes, the robotic system  100  is shown with the storage unit  204  as a single hierarchy storage system, although it is understood that the robotic system  100  can have the storage unit  204  in a different configuration. For example, the storage unit  204  can be formed with different storage technologies forming a memory hierarchal system including different levels of caching, main memory, rotating media, or off-line storage. 
     The storage unit  204  can be a volatile memory, a nonvolatile memory, an internal memory, an external memory, or a combination thereof. For example, the storage unit  204  can be a nonvolatile storage such as non-volatile random access memory (NVRAM), Flash memory, disk storage, or a volatile storage such as static random access memory (SRAM). As a further example, storage unit  204  can be a non-transitory computer medium including the non-volatile memory, such as a hard disk drive, NVRAM, solid-state storage device (SSD), compact disk (CD), digital video disk (DVD), or universal serial bus (USB) flash memory devices. The software can be stored on the non-transitory computer readable medium to be executed by a control unit  202 . 
     The storage unit  204  can be operably coupled to the user interface  210 . The user interface  210  can be used for communication between the storage unit  204  and other functional units in the robotic system  100 . The user interface  210  can also be used for communication that is external to the robotic system  100 . The user interface  210  can receive information from the other functional units or from external sources, or can transmit information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations external to the robotic system  100 . 
     Similar to the discussion above, the user interface  210  can include different implementations depending on which functional units or external units are being interfaced with the storage unit  204 . The user interface  210  can be implemented with technologies and techniques similar to the implementation of the user interface  210  discussed above. 
     In some embodiments, the storage unit  204  is used to further store and provide access to processing results, predetermined data, thresholds, or a combination thereof. For example, the storage unit  204  can store the master data that includes descriptions of the one or more target objects  112  (e.g., boxes, box types, cases, case types, products, and/or a combination thereof). In one embodiment, the master data includes dimensions, predetermined shapes, templates for potential poses and/or computer-generated models for recognizing different poses, a color scheme, an image, identification information (e.g., bar codes, quick response (QR) codes, logos, and the like), expected locations, an expected weight, and/or a combination thereof, for the one or more target objects  112  expected to be manipulated by the robotic system  100 . 
     In some embodiments, the master data includes manipulation-related information regarding the one or more objects that can be encountered or handled by the robotic system  100 . For example, the manipulation-related information for the objects can include a center-of-mass location on each of the objects, expected sensor measurements (e.g., for force, torque, pressure, and/or contact measurements), corresponding to one or more actions, maneuvers, or a combination thereof. 
     The communication unit  206  can enable external communication to and from the robotic system  100 . For example, the communication unit  206  can enable the robotic system  100  to communicate with other robotic systems or units, external devices, such as an external computer, an external database, an external machine, an external peripheral device, or a combination thereof, through a communication path  218 , such as a wired or wireless network. 
     The communication path  218  can span and represent a variety of networks and network topologies. For example, the communication path  218  can include wireless communication, wired communication, optical communication, ultrasonic communication, or the combination thereof. For example, satellite communication, cellular communication, Bluetooth, Infrared Data Association standard (IrDA), wireless fidelity (WiFi), and worldwide interoperability for microwave access (WiMAX) are examples of wireless communication that can be included in the communication path  218 . Cable, Ethernet, digital subscriber line (DSL), fiber optic lines, fiber to the home (FTTH), and plain old telephone service (POTS) are examples of wired communication that can be included in the communication path  218 . Further, the communication path  218  can traverse a number of network topologies and distances. For example, the communication path  218  can include direct connection, personal area network (PAN), local area network (LAN), metropolitan area network (MAN), wide area network (WAN), or a combination thereof. The robotic system  100  can transmit information between the various units through the communication path  218 . For example, the information can be transmitted between the control unit  202 , the storage unit  204 , the communication unit  206 , the I/O device  208 , the actuation devices  212 , the transport motors  214 , the sensor units  216 , or a combination thereof. 
     The communication unit  206  can also function as a communication hub allowing the robotic system  100  to function as part of the communication path  218  and not limited to be an end point or terminal unit to the communication path  218 . The communication unit  206  can include active and passive components, such as microelectronics or an antenna, for interaction with the communication path  218 . 
     The communication unit  206  can include a communication interface  248 . The communication interface  248  can be used for communication between the communication unit  206  and other functional units in the robotic system  100 . The communication interface  248  can receive information from the other functional units or from external sources, or can transmit information to the other functional units or to external destinations. The external sources and the external destinations refer to sources and destinations external to the robotic system  100 . 
     The communication interface  248  can include different implementations depending on which functional units are being interfaced with the communication unit  206 . The communication interface  248  can be implemented with technologies and techniques similar to the implementation of the control interface  240 . 
     The I/O device  208  can include one or more input sub-devices and/or one or more output sub-devices. Examples of the input devices of the I/O device  208  can include a keypad, a touchpad, soft-keys, a keyboard, a microphone, sensors for receiving remote signals, a camera for receiving motion commands, or any combination thereof to provide data and communication inputs. Examples of the output device can include a display interface. The display interface can be any graphical user interface such as a display, a projector, a video screen, and/or any combination thereof. 
     The control unit  202  can operate the I/O device  208  to present or receive information generated by the robotic system  100 . The control unit  202  can operate the I/O device  208  to present information generated by the robotic system  100 . The control unit  202  can also execute the software and/or instructions for the other functions of the robotic system  100 . The control unit  202  can further execute the software and/or instructions for interaction with the communication path  218  via the communication unit  206 . 
     The robotic system  100  can include physical or structural members, such as robotic manipulator arms, that are connected at joints for motion, such as rotational displacement, translational displacements, or a combination thereof. The structural members and the joints can form a kinetic chain configured to manipulate an end-effector, such as a gripping element, to execute one or more task, such as gripping, spinning, or welding, depending on the use or operation of the robotic system  100 . The robotic system  100  can include the actuation devices  212 , such as motors, actuators, wires, artificial muscles, electroactive polymers, or a combination thereof, configured to drive, manipulate, displace, reorient, or a combination thereof, the structural members about or at a corresponding joint. In some embodiments, the robotic system  100  can include the transport motors  214  configured to transport the corresponding units from place to place. 
     The robotic system  100  can include the sensor units  216  configured to obtain information used to execute tasks and operations, such as for manipulating the structural members or for transporting the robotic units. The sensor units  216  can include devices configured to detect or measure one or more physical properties of the robotic system  100 , such as a state, a condition, a location of one or more structural members or joints, information about objects or surrounding environment, or a combination thereof. As an example, the sensor units  216  can include imaging devices, system sensors, contact sensors, and/or any combination thereof. 
     In some embodiments, the sensor units  216  include one or more imaging devices  222 . The imaging devices  222  are devices configured to detect and image the surrounding environment. For example, the imaging devices  222  can include 2-dimensional cameras, 3-dimensional cameras, both of which can include a combination of visual and infrared capabilities, lidars, radars, other distance-measuring devices, and other imaging devices. The imaging devices  222  can generate a representation of the detected environment, such as a digital image or a point cloud, used for implementing machine/computer vision for automatic inspection, robot guidance, or other robotic applications. As described in further detail below, the robotic system  100  can process the digital image, the point cloud, or a combination thereof via the control unit  202  to identify the target object  112  of  FIG. 1 , a pose of the target object  112  of, or a combination thereof. For manipulating the target object  112 , the robotic system  100  can capture and analyze an image of a designated area, such as inside the truck, inside the container, or a pickup location for objects on the conveyor belt, to identify the target object  112  and the object source  114  of  FIG. 1  thereof. Similarly, the robotic system  100  can capture and analyze an image of another designated area, such as a drop location for placing objects on the conveyor belt, a location for placing objects inside the container, or a location on the pallet for stacking purposes, to identify the task location  116  of  FIG. 1 . 
     In some embodiments, the sensor units  216  can include system sensors  224 . The system sensors  224  can monitor the robotic units within the robotic system  100 . For example, the system sensors  224  can include units or devices to detect and monitor positions of structural members, such as the robotic arms and the end-effectors, corresponding joints of robotic units or a combination thereof. As a further example, the robotic system  100  can use the system sensors  224  to track locations, orientations, or a combination thereof of the structural members and the joints during execution of the task. Examples of the system sensors  224  can include accelerometers, gyroscopes, or position encoders. 
     In some embodiments, the sensor units  216  can include the contact sensors  226 , such as pressure sensors, force sensors, strain gauges, piezoresistive/piezoelectric sensors, capacitive sensors, elastoresistive sensors, torque sensors, linear force sensors, other tactile sensors, and/or any other suitable sensors configured to measure a characteristic associated with a direct contact between multiple physical structures or surfaces. For example, the contact sensors  226  can measure the characteristic that corresponds to a grip of the end-effector on the target object  112  or measure the weight of the target object  112 . Accordingly, the contact sensors  226  can output a contact measure that represents a quantified measure, such as a measured force or torque, corresponding to a degree of contact or attachment between the gripping element and the target object  112 . For example, the contact measure can include one or more force or torque readings associated with forces applied to the target object  112  by the end-effector. 
     Suitable Object Gripping Assemblies with Variable Pitch Mechanisms 
       FIG. 3  is a side view of a robotic unit  300  (e.g., a picking unit for the robotic system  100  of  FIG. 1 , sometimes also referred to as a robotic subsystem) having in accordance with some embodiments of the present technology. In the illustrated embodiment, the robotic system  100  includes a robotic arm  310  and an end-effector (e.g., an object gripping assembly  320 ) attached to/carried by the robotic arm  310 . As illustrated in  FIG. 3 , the robotic arm  310  can include a first flange  312  and one or more joints  314  (three shown), while the object gripping assembly  320  includes a second flange  322  operably couplable to the first flange  312  of the robotic arm  310 . When joined together, the first and second flanges  312 ,  322  can establish both a physical connection and one or more communicative connections (e.g., electrical connections, fluid connections, or other suitable communicative connections). The physical connections allow the robotic arm  310  to carry the object gripping assembly  320  while the communicative connections allow the object gripping assembly  320  to be controlled through a connection to the robotic arm  310 . 
     The one or more joints  314  allow the robotic arm  310  to controllably position the object gripping assembly  320  over and/or adjacent a target object (e.g., the target object  112  of  FIG. 1 ). Once positioned, the object gripping assembly  320  can be operated to grip the target object. The one or more joints  314  also then the robotic arm  310  to controllably position the object gripping assembly  320  to move the target object between locations (e.g., between a pick-up location and a drop-off location). Once the object gripping assembly  320  is positioned over a desired location, the object gripping assembly  320  can be operated to release the target object. Additional details on the operation of the object gripping assembly  320  are provided below with respect to  FIG. 4A - FIG. 13 . 
       FIGS. 4A and 4B  are isometric views of the object gripping assembly  320  in accordance with some embodiments of the present technology. As illustrated, the object gripping assembly  320  can include a first carrying plate  424 , one or more second carrying plates  430  (four shown, labelled individually as second carrying plates  430   a - 430   d ) carried by the first carrying plate  424 , and two or more extendable gripping components  470  (e.g., thirty six in the illustrated embodiment, sometimes referred to as “extendable gripping elements”) carried by the second carrying plates  430 . 
     As illustrated in  FIG. 4A , the second carrying plates  430  (sometimes also referred to herein as “lower carrying plates” and/or “vertical carrying plates”) each include one or more vertical mounting tracks  432  (two shown on the front second carrying plate  430   a ) and one or more second mounting tracks  434  (one shown on the front second carrying plate  430   a , sometimes also referred to herein as “second horizontal mounting tracks” and/or “horizontal mounting tracks”). Each of the extendable gripping components  470  includes a gripping component mounting element  472  (e.g., a ball bearing carriage, ball bearing glide plate, slidable carriage, transducer carriage, and the like) that is movably carried by the second mounting track  434 . The gripping component mounting elements  472  and the second mounting track  434  allow each of the extendable gripping components  470  to be moved (e.g., slid, adjusted, and the like) along a first axis (e.g., the x-axis). In turn, the position of each of the extendable gripping components  470  along the first axis can be controlled by a first pitch adjustment plate  440  (sometimes also referred to as a first “adjustment plate”) operably coupled to each of the second carrying plates  430  and the extendable gripping components  470  carried thereon (e.g., resulting in four first pitch adjustment plates  440  for the illustrated embodiment). To do so, in the illustrated embodiment, each of the extendable gripping components  470  includes a protrusion  473  (e.g., a bearing, roller, low friction element, and the like) while the first pitch adjustment plate  440  includes pitch grooves  442  (sometimes also referred herein to as “pitch slots,” and “pitch tracks”) that are positioned in a first plane (e.g., having components in the first axis and the vertical axis and being positioned in an x-z plane). Each of the protrusions  473  mates with an individual pitch groove  442  such that when the first pitch adjustment plate  440  is moved along the vertical axis, the horizontal component of the pitch grooves  442  controls the position of the protrusions  473  along the first axis. As a result, movement of the first pitch adjustment plate  440  along the vertical axis controls the position of each of the extendable gripping components  470  along the first axis. 
     Further, to adjust the pitch of the extendable gripping components  470  along the first axis, the pitch grooves  442  can have varying slopes, such as toward a central portion of the first pitch adjustment plate  440 . A pitch groove with a steeper slope (e.g., having a smaller component in the x-direction) will cause less movement along the first axis. Conversely, a pitch groove with a shallower slope (e.g., having a larger component in the x-direction) will cause more movement along the first axis. If the pitch grooves  442  are then arranged with gradually decreasing slopes from the central portion to the peripheral portions, the central extendable gripping components  470  will move less than peripheral extendable gripping components  470  as the first pitch adjustment plate  440  moves. As a result, movement of the first pitch adjustment plate  440  adjusts the pitch of the extendable gripping components  470  along the first axis. 
     An example of the adjustment of the pitch of the extendable gripping components  470  is illustrated between  FIGS. 4A and 4B . In the illustrated embodiment, the pitch grooves  442  are oriented such that the pitch of the extendable gripping components  470  decreases (e.g., distances between adjacent gripping components  470  increases) as the first pitch adjustment plate  440  moves downward between  FIG. 4A  and  FIG. 4B . Conversely, if the first pitch adjustment plate  440  moves upward (e.g., between the position of  FIG. 4B  and the position in  FIG. 4A ), the pitch of the extendable gripping components  470  increases (e.g., distances between adjacent gripping components  470  decreases). It will be understood however, that the pitch grooves  442  can be oriented in an opposite manner such that the pitch of the extendable gripping components  470  decreases as a second pitch adjustment plate  450  moves upward, and increases as the second pitch adjustment plate  450  moves downward. 
     To control the adjustment of the pitch of the extendable gripping components  470 , the object gripping assembly  320  includes features that control the vertical position of the first pitch adjustment plate  440 . For example, in the illustrated embodiment, the first pitch adjustment plates  440  each include adjustment plate mounting elements  444  (e.g., a ball bearing carriage, ball bearing glide plate, slidable carriage, transducer carriage, and the like) that are at least partially movably carried by the vertical mounting tracks  432  on each of the second carrying plates  430 . One or more first expandable components  462  are carried by each of the second carrying plates  430  (e.g., one for each of the second carrying plate  430 ). The first expandable components  462  are operably coupled between the second carrying plate  430  and a corresponding first pitch adjustment plate  440  such that the expansion (or retraction) of the first expandable components  462  controls the vertical position of the first pitch adjustment plate  440 . As a result, the expansion (or retraction) of the first expandable components  462  controls the pitch of the extendable gripping components  470  along the first axis. 
     In various embodiments, the first expandable components  462  can include various hydraulic cylinders (e.g., gas, liquid, and/or any other suitable hydraulics), hydraulic struts, spring struts, twist-driven expanding components, screw jacks, telescoping elements, an extension and retraction rod integral to an outer housing, and the like. In some embodiments, the first expandable components  462  are controlled simultaneously, resulting in a uniform adjustment to the pitch of the extendable gripping components  470  on each of the second carrying plates  430 . In some embodiments, the first expandable components  462  are independently controllable, allowing for the pitch of the extendable gripping components  470  to vary between the second carrying plates  430  (e.g., the pitch of the extendable gripping components  470  on the front second carrying plate  430   a  can be different from the pitch of the extendable gripping components  470  the rear second carrying plate  430   b ). 
     In the illustrated embodiment, each of the pitch grooves  442  has a slightly curved slope. The curved slopes allow for a consistent, uniform adjustment of the pitch of the extendable gripping components  470 . That is, the curved slopes can help maintain equal spacing between each of the extendable gripping components  470  as the first pitch adjustment plate  440  moves in the vertical direction. In various other embodiments, however, one or more of the pitch grooves  442  can have a linear slope, resulting in a constant adjustment of the attached gripping component along the first axis for any movement of the first pitch adjustment plate  440  along the vertical axis. 
     In addition to controlling the pitch of the extendable gripping components  470  along the first axis, the object gripping assembly  320  includes features that control the pitch of the extendable gripping components  470  along a second axis at least partially orthogonal to the first axis (e.g., the y-axis). For example, as further illustrated in  FIGS. 4A and 4B , the first carrying plate  424  (sometimes also referred to as an “upper carrying plate” and/or a “horizontal carrying plate”) has an upper surface  425   a  and a lower surface  425   b  opposite the upper surface. The lower surface  425   b  can include one or more first mounting tracks  426  (two shown, sometimes also referred to herein as “first mounting tracks” and/or “first horizontal mounting tracks”) extending along the second axis, and the second carrying plates  430  are movably carried by the first mounting tracks  426 . For example, in the illustrated embodiment, each of the second carrying plates  430  includes at least one carrying plate mounting element  436  (e.g., a ball bearing carriage, ball bearing glide plate, slidable carriage, transducer carriage, and the like) for each of the first mounting tracks  426  (e.g., two carrying plate mounting elements  436  shown). The carrying plate mounting elements  436  and the first mounting tracks  426  allow each of the second carrying plates  430  to be moved (e.g., slid, adjusted, and the like) along the second axis. The movement of the second carrying plates  430  also moves the extendable gripping components  470  carried thereon. 
     Further, in the illustrated embodiment, the object gripping assembly includes one or more second pitch adjustment plates  450  (two shown, one labelled, sometimes also referred to as second “adjustment plates,” “second pitch adjustment components,” and/or “adjustment components”) each operably coupled to the first carrying plate  424  and the second carrying plates  430  carried thereon. The second pitch adjustment plates  450  function similar to the first pitch adjustment plates  440  discussed above to translate their vertical movement into a horizontal adjustment of the second carrying plates  430  along the second axis. 
     For example, as illustrated, each of the second carrying plates  430  can include one or more protrusions  438  (e.g., one for each of the second pitch adjustment plates  450 ) while the second pitch adjustment plates  450  include pitch grooves  452  that are positioned in a second plane (e.g., having components in the second axis and the vertical axis and being positioned in a y-z plane). Each of the protrusions  438  mates with an individual pitch groove  452  such that when the second pitch adjustment plates  450  are moved along the vertical axis, the horizontal component of the pitch grooves  452  controls the position of the protrusions  438  along the second axis. As a result, movement of the second pitch adjustment plates  450  along the vertical axis controls the position of each of the second carrying plates  430  along the second axis. 
     Further, similar to the discussion above, the pitch grooves  452  can have varying slopes (illustrated here as sloping toward a central portion of the second pitch adjustment plates  450 ) to adjust the pitch of the second carrying plates  430  along the second axis. The pitch grooves  452  can then be arranged with gradually decreasing slopes from the central portion to the peripheral portions. As a result, the central second carrying plates  430  (e.g., the center two second carrying plates) will move less than peripheral second carrying plates  430  (e.g., the front and rear second carrying plates) as the second pitch adjustment plates  450  move, thereby adjusting the pitch of the second carrying plates  430 . In the illustrated embodiment, the pitch grooves  452  are oriented such that the pitch of the second carrying plates  430  increases as the second pitch adjustment plates  450  move upward, and decreases as the second pitch adjustment plates  450  move downward. However, it will be understood that the pitch grooves  452  can be oriented in an opposite manner such that the pitch of the second carrying plates  430  decreases as the second pitch adjustment plates  450  move upward, and increases as the second pitch adjustment plates  450  move downward. 
     To control the adjustment of the pitch of the extendable gripping components  470  along the second axis, the object gripping assembly  320  can also include features that control the vertical position of the second pitch adjustment plates  450 . For example, in the illustrated embodiment, one or more second expandable components  464  are carried by the first carrying plate  424  (e.g., one for each second pitch adjustment plate). The second expandable components  464  are operably coupled between the first carrying plate  424  and the corresponding second pitch adjustment plates  450  such that the expansion (or retraction) of the second expandable components  464  controls the vertical position of the second pitch adjustment plate  450 . As a result, the expansion (or retraction) of the second expandable components  464  controls the pitch of the second carrying plates  430 , and therefore the extendable gripping components  470 , along the second axis. 
     As discussed above, each combination of a first expandable component  462 , a first pitch adjustment plate  440 , and the operational coupling between the same can controllably adjust the pitch of the extendable gripping components  470 . Accordingly, each combination is sometimes referred to collectively as a “first pitch adjustment mechanism” and/or a “first pitch adjustment component” that controls the pitch of the extendable gripping components  470  along the first axis. Similarly, the second pitch adjustment plate  450  and the second expandable components  464  discussed above with respect to are sometimes referred to collectively as a “second pitch adjustment mechanism” and/or a “second pitch adjustment component” that controls the pitch of the second carrying plates  430 , and therefore the extendable gripping components  470  carried thereon, along the second axis. 
     As further illustrated in  FIGS. 4A and 4B , each of the extendable gripping components  470  includes an expandable body  474  and a gripping element  476  at a distal end of the expandable body  474 . In various embodiments, the expandable body  474  can include various hydraulic cylinders (e.g., gas, liquid, and/or any other suitable hydraulics), hydraulic struts, spring struts, twist-driven expanding components, screw jacks, telescoping elements, an extension and retraction rod integral to an outer housing, and/or any other expanding mechanism. Further, in various embodiments, the gripping element  476  can include a suction element, a vacuum port, a magnetic component, a pneumatic gripper, a robotic gripper, and/or any other suitable element. 
     The expandable body  474  drives movement of the gripping element  476  in the vertical direction (e.g., along the z-axis), allowing the gripping element  476  to be controllably raised and lowered. In some embodiments, each of the extendable gripping components  470  is independently controllable to extend and/or actuate the extendable gripping components  470 , thereby allowing any suitable subset of the extendable gripping components  470  to be operated at a time. Purely by way of example, the object gripping assembly  320  can omit a row and/or column of the extendable gripping components  470  during operation when the row and/or column is not needed to grip and/or transport the target object. 
     To facilitate the independent operation, as further illustrated in  FIGS. 4A and 4B , the object gripping assembly  320  can include a plurality of onboard controllers  480  (e.g., electrical controllers, vacuum ejectors, solenoids, and the like) operably coupled to the extendable gripping components  470 . Additionally, or alternatively, the onboard controllers  480  can be operably coupled to each of the first and second expandable components  462 ,  464  to control their operation. In various embodiments, each of the onboard controllers  480  can be operably coupled to a centralized controller on the object gripping assembly  320  (not shown) and/or a centralized controller operably coupled to the robotic system  100  (e.g., the controller  109  of  FIG. 1  having the processor  202  of  FIG. 2 ). 
       FIG. 5  is an isometric view of a single second carrying plate  430  illustrating additional details of the first pitch adjustment component of  FIGS. 4A and 4B . In the embodiment illustrated in  FIG. 5 , the second carrying plate  430  includes two vertical mounting tracks  432  and a single second mounting track  434 . Further, in the illustrated embodiment, nine extendable gripping components  470  are carried by the second mounting track  434 . Each of the extendable gripping components  470  includes an individual gripping component mounting element  472  slidably coupled to the second mounting track  434 . As a result, each of the extendable gripping components  470  can move along the first axis (e.g., along the x-axis), but is fixed in position along the vertical axis (e.g., the z-axis) and the second axis (e.g., the y-axis) with respect to the second carrying plate  430 . 
     In the illustrated embodiment, a single first pitch adjustment plate  440  is slidably carried by the vertical mounting tracks  432  through two adjustment plate mounting elements  444 . As a result, the first pitch adjustment plate  440  can move along the vertical axis but is fixed in position along the first and second axes. The first pitch adjustment plate  440  includes nine pitch grooves  442 , each operably coupled to a corresponding extendable gripping component  470 . As discussed above, the varying slopes of the pitch grooves  442  adjusts the pitch of the extendable gripping components  470  as the first pitch adjustment plate  440  moves. In the illustrated embodiment, a single expandable component  462  is carried by the second carrying plate  430  and operably coupled to the first pitch adjustment plate  440 . Expansion of the expandable component  462  moves the first pitch adjustment plate  440  along the vertical axis, thereby controlling the pitch of the extendable gripping components  470 . 
     As further illustrated in  FIG. 5 , the second carrying plate  430  can include a stopping mechanism  540 . In the illustrated embodiment, the stopping mechanism  540  includes a first stopper  542  and a second stopper  544 . As described in more detail below with respect to  FIGS. 6 and 7 , the first stopper  542  can be used to prevent movement of the first pitch adjustment plate  440  above a predetermined position with respect to the second carrying plate  430 . As a result, the first stopper  542  can set a maximum pitch for the extendable gripping components  470 . Similarly, the second stopper  544  can be used to prevent movement of the first pitch adjustment plate  440  below a predetermined position with respect to the second carrying plate  430 . As a result, the second stopper  544  can set a minimum pitch for the extendable gripping components  470 . 
     In some embodiments, the predetermined positions of the first and second stoppers  542 ,  544  is adjustable. As a result, the minimum and/or maximum pitch of the extendable gripping components  470  can be set according to an intended use. Purely by way of example, the minimum pitch can be set at a first operational pitch and the maximum can be set at a second operational pitch. The extendable gripping components  470  can then be quickly moved between the first and second operational pitches by quickly lowering and raising the first pitch adjustment plate  440  into the first and second stoppers  542 ,  544 . In various embodiments, the stopping mechanism  540  can include any other suitable number of stoppers (e.g., one stopper, two stoppers, five stoppers, ten stoppers, and/or any other suitable number). Further, in various embodiments, one or more of the stoppers on the stopping mechanism  540  can have a fixed position. Purely by way of example, the stopping mechanism  540  can include twenty stoppers positioned to incrementally adjust the pitch range for the extendable gripping components  470 . 
       FIGS. 6 and 7  are isometric views of the stopping mechanism  540  for a pitch adjustment component in accordance with some embodiments of the present technology. In the illustrated embodiment, the stopping mechanism  540  includes a first stopper  542  and a second stopper  544  at fixed incremental positions to set a maximum or minimum pitch for the extendable gripping components  470  ( FIG. 5 ). As best illustrated in  FIG. 6 , each of the first and second stoppers  542 ,  544  includes an adjustable slider  646  and a first engaging portion  648 . can be actioned between an engaged position and a disengaged position. The adjustable slider  646  allows the first and second stoppers  542 ,  544  to be transitioned from an engaged position to a disengaged position. For example, in the embodiment illustrated in  FIG. 6 , the second stopper  544  is in the engaged position such that the first engaging portion  648  of the second stopper  544  contacts a second engaging portion  649  carried by the first pitch adjustment plate  440  to prevent further upward movement of the first pitch adjustment plate  440 . In the disengaged position, the first and second engaging portions  648 ,  649  do not make contact, allowing the first pitch adjustment plate  440  to move freely. As best illustrated in  FIG. 7 , the adjustable slider  646  allows the first and second stoppers  542 ,  544  to be quickly toggled between the engaged position (e.g., slid all the way to the left) and the disengaged position (e.g., slid all the way to the right). 
       FIGS. 8A and 8B  are isometric views of the first pitch adjustment component at various pitch settings in accordance with some embodiments of the present technology. In the illustrated embodiment, the pitch grooves  442  are sloped such that raising the first pitch adjustment plate  440  reduces the pitch of the extendable gripping components  470 , while lowering the first pitch adjustment plate  440  increases the pitch. For example, as illustrated with respect to  FIG. 8A , when the expandable component  462  is fully retracted, the first pitch adjustment plate  440  is raised to a maximum height with respect to the second carrying plate  430 . As a result, the pitch of the extendable gripping components  470  is at a minimum, resulting in a close packing of the extendable gripping components  470 . The illustrated configuration is useful, for example, to pick up a plurality of small, closely packed target objects and/or a relatively small, heavy target object (e.g., requiring each of the extendable gripping components  470  to securely lift). As illustrated with respect to  FIG. 8B , as the expandable component  462  is extended, the first pitch adjustment plate  440  is lowered with respect to the second carrying plate  430 . As a result, the pitch of the extendable gripping components  470  is increased, resulting in a less dense packing of the extendable gripping components  470  compared to  FIG. 8A . The illustrated configuration is useful, for example, to pick up a plurality of smaller target objects and/or a larger target object (by, e.g., separating the grip locations across a larger area). 
     As discussed above, however, it will be understood that the slopes of the pitch grooves  442  can be inversed such that raising the first pitch adjustment plate  440  increases the pitch of the extendable gripping components  470 , while lowering the first pitch adjustment plate  440  reduces the pitch. Further, it will be understood that the expandable component  462  can be coupled between the second carrying plate  430  and the first pitch adjustment plate  440  in a different position, such that expansion of the expandable component  462  raises the first pitch adjustment plate  440  with respect to the second carrying plate  430  instead of lowering the first pitch adjustment plate  440 . 
     Suitable Methods of Operating the Object Gripping Assembly 
       FIGS. 9-11  are isometric views of an object gripping assembly  320  at various operational parameters in accordance with some embodiments of the present technology. In each of the illustrated operational parameters, the object gripping assembly  320  can be used to pick up, place, and/or transfer a plurality of target objects  912 ,  1012 ,  1112  from a first location in a carrier  910 ,  1010 ,  1110  (e.g., a truck bed, a packaging container, and the like) to a second location (e.g., on a conveyor belt, into a second container, and the like). 
     In the embodiment illustrated in  FIG. 9 , the object gripping assembly  320  includes thirty-six extendable gripping components  470 , while the plurality of target objects  912  includes twenty objects to be lifted out of the carrier  910 . Accordingly, the object gripping assembly  320  (or a controller in communication therewith, such as controller  109  of  FIG. 1  having the processor  202  of  FIG. 2 ) can determine a subset of the extendable gripping components  470  to operate, as well as a desired pitch for the subset of the extendable gripping components  470  in both the first and second axes. In the illustrated embodiment, the operational parameters include adjusting the pitch of the extendable gripping components  470  to (or near) the minimum pitch along the x-axis and adjusting to (or near) the maximum pitch along the y-axis. The operational parameters also include operating every other extendable gripping component  470  along the x-axis (e.g., every other extendable gripping component  470  along a given second carrying plate  430 ). As a result of the operational parameters, a subset of twenty of the extendable gripping components  470  are well aligned to pick the plurality of target objects  912  out of the carrier  910 . Accordingly, as illustrated, only the subset of the extendable gripping components  470  are extended during operation. 
     It will be understood, however, that the illustrated operational parameters are merely an example of the suitable operational parameters for the plurality of target objects  912 . In various embodiments, the range of possible pitches for the extendable gripping component  470  can vary, allowing (or requiring) an alternative adjustment of the pitches. Further, multiple pitches may be possible to align a suitable subset of the extendable gripping components  470  with the plurality of target objects  912 . Even further, it will be understood that the object gripping assembly  320  can include any other suitable number of extendable gripping components  470  that are accounted for by the operational parameters. For example, the object gripping assembly  320  can include two, three, four, five, ten, fifty, one hundred, one thousand, or any other suitable number of extendable gripping components  470  that are each accounted for by the operational parameters. 
     Further, in the embodiment illustrated in  FIG. 9 , each of the extendable gripping components  470  can include an outer housing  972 , an extendable rod  974  protruding a controllable distance from the outer housing  972 , and a suction element  976  carried by a distal end of the extendable rod  974 . The position of the extendable rod  974  can be controlled by any suitable hydraulics, screwing mechanism, and/or any other suitable mechanism. Further, each extendable rod  974  can place the corresponding suction element  976  in fluid communication with an actuator on the object gripping assembly  320  to control the grip of the suction element  976 . As discussed above, however, the extendable gripping components  470  can include various other hydraulic cylinders (e.g., gas, liquid, and/or any other suitable hydraulics), hydraulic struts, spring struts, twist-driven expanding components, screw jacks, and/or telescoping elements to move a gripping element along the vertical axis. Similarly, as discussed above, the gripping element can include another suction element, a vacuum port, a magnetic component, a pneumatic gripper, a robotic gripper, and/or any other suitable element. 
     In the embodiment illustrated in  FIG. 10 , the object gripping assembly  320  includes thirty-six extendable gripping components  470  and the plurality of target objects  1012  includes thirty-six objects. Further, the carrier  1010  is configured with a denser packing of the plurality of target objects  1012 . The object gripping assembly  320  (or a controller in communication therewith, such as the controller  109  of  FIG. 1  having the processor  202  of  FIG. 2 ) can determine a subset of the extendable gripping components  470  to operate, as well as a desired pitch for the subset of the extendable gripping components  470  in both the first and second axes. As illustrated in  FIG. 10 , the subset of the extendable gripping components  470  can include the entirety of the extendable gripping components  470 . 
     In the illustrated embodiment, the operational parameters include adjusting the pitch of the extendable gripping components  470  to a mid-range pitch along the x-axis and adjusting to (or near) the minimum pitch along the y-axis. The operational parameters also include operating every extendable gripping component  470  on the object gripping assembly  320 . As a result of the operational parameters, each extendable gripping component  470  is well aligned to pick a corresponding target object out of the carrier  1010 . Accordingly, as illustrated, all of the extendable gripping components  470  on the object gripping assembly  320  are operated concurrently. 
     In the embodiment illustrated in  FIG. 11 , the object gripping assembly  320  includes thirty-six extendable gripping components  470 , while the plurality of target objects  1112  includes thirty-two objects to be picked out of the carrier  1110 . The object gripping assembly  320  (or a controller in communication therewith, such as controller of  FIG. 1  having the processor  202  of  FIG. 2 ) can determine a subset of the extendable gripping components  470  to operate, as well as a desired pitch for the subset of the extendable gripping components  470  in both the first and second axes. 
     In the illustrated embodiment, the operational parameters include adjusting the pitch of the extendable gripping components  470  to (or near) a maximum pitch along the x-axis and adjusting to (or near) the minimum pitch along the y-axis. The operational parameters also include omitting a single extendable gripping component  470  from a longitudinal end of each of the second carrying plates  430 . As a result of the operational parameters, a subset of thirty-two of the extendable gripping components  470  are well aligned to pick a corresponding target object out of the carrier  1110 . Then, as illustrated, only the subset of the extendable gripping components  470  are extended during operation. 
       FIG. 12  is a flow diagram of a process  1200  for operating an object gripping assembly (e.g., the object gripping assembly  320  of  FIG. 3 ) at various operational parameters in accordance with some embodiments of the present technology. The process  1200  can be executed by a controller on the object gripping assembly itself (e.g., one of the onboard controllers  480  discussed above with respect to  FIG. 4 ) and/or by an external controller (e.g., the controller  109  of  FIG. 1  having the processor  202  of  FIG. 2 ). 
     The process  1200  begins at block  1202  by determining which extendable gripping components to operate. In some embodiments, the determination is based on an image and/or scan of one or more target objects and/or a carrier. In some embodiments, the determination is based on information received regarding one or more target objects and/or the carrier (e.g., information about the weight of the target object(s), the distribution of the target object(s), a surface texture of the target object(s) or any other information that might affect the gripping elements, and/or any other suitable information). In some embodiments, the determination includes planning multiple passes and determining which extendable gripping components to operate on each pass. 
     At block  1204 , the process  1200  includes determining a desired pitch of the extendable gripping components that are being operated in a first direction (e.g., along a first axis, such as an x- or y-axis). As discussed above, the determination of the pitch in the first direction can be based on an image, scan, and/or any other information received regarding the one or more target objects and/or the carrier. Further, in some embodiments, the determination of the pitch is based at least partially on the determination of which extendable gripping components to operate. For example, the determination of the pitch can be based at least partially on a determination to operate only a subset of extendable gripping components. In another example, the determination of the pitch and the determination of which extendable gripping components to operate can be made concurrently (e.g., the determination of what extendable gripping components to operate can be based partially on what pitches are available for different subsets of the extendable gripping components). In some embodiments, the process  1200  includes determining a desired pitch of the extendable gripping components for each of the second carrying plates independently (e.g., the extendable gripping components on a front carrying plate can have a smaller pitch than the extendable gripping components on a rear carrying plate). 
     At block  1206 , the process  1200  includes retracting or extending one or more first expandable components (e.g., the first expandable components  462  of  FIG. 4A ) to set the pitch of the extendable gripping components at (or near) the desired pitch in the first direction. In some embodiments, the pitch is monitored by an imaging component and/or other sensor. In some such embodiments, the first expandable component is expanded (or retracted) until the desired pitch is obtained. In some embodiments, the relationship between the state of the first expandable component and the pitch is known, and the expandable component is expanded (or retracted) until the desired pitch is obtained without being monitored. 
     At block  1208 , the process  1200  includes determining a desired pitch of the extendable gripping components in a second direction (e.g., along a second axis, such as a y- or x-axis) that is at least partially orthogonal to the first direction. Like the determination of the pitch in the first direction, the determination of the pitch in the second direction can be based on an image, scan, and/or any other information received regarding the one or more target objects and/or the carrier. Further, in some embodiments, the determination of the pitch is based at least partially on the determination of which extendable gripping components to operate (e.g., based at least partially on a determination to operate only a subset of extendable gripping components, made concurrently with a determination of which subset of the extendable gripping components to operate, and the like). 
     At block  1210 , the process  1200  includes retracting or extending one or more second expandable components (e.g., the second expandable components  464  of  FIG. 4A ) to set the pitch of the extendable gripping components at (or near) the desired pitch in the second direction. As discussed above, in some embodiments, the pitch is monitored by an imaging component and/or other sensor. In some such embodiments, the first expandable component is expanded (or retracted) until the desired pitch is obtained. In some embodiments, the relationship between the state of the first expandable component and the pitch is known, and the expandable component is expanded (or retracted) until the desired pitch is obtained without being monitored. 
     At block  1212 , the process  1200  includes operating the extendable gripping components at the set pitches. That is, at block  1212 , the process  1200  includes extending and/or actuating the subset of the extendable gripping components that the process determined to operate at block  1202  to pick up, set down, and/or transfer the one or more target objects. 
     Since each of the extendable gripping components can be actuated to grip and/or release a target object independently, a subset of the target objects that are gripped by the extendable gripping components can be selectively released at a destination. That is, for example, the process  1200  can extend a first subset of the extendable gripping components at the set pitches and actuate the first subset to pick up the target objects at a pick-up location. The process  1200  can then actuate second, third, fourth, etc. subsets to selectively release the target objects at one or more drop-off locations. In another example, the process  1200  can extend a first subset of the extendable gripping components at the set pitches and actuate the first subset to pick up the target objects at a first pick-up location, then actuate a second subset of the extendable gripping components at the set pitches and actuate the second subset to pick up the target objects at a second pick-up location. In some embodiments, the pitch is not adjusted between the two picking locations. In other embodiments, the pitch is adjusted between the two picking locations, allowing the process  1200  tailor to multiple pitches in a single operation. In some embodiments, each of the two sets of desired pitches are determined in blocks  1204  and  1208 , such that the process  1200  can then re-execute blocks  1206  and  1210  without further determinations to adjust the pitch. In some embodiments, the process  1200  re-executes blocks  1204 - 1210  between the first pick-up location and the second pick-up location. 
     In some embodiments, the selective operation enables the object gripping assembly  320  ( FIG. 3 ) to be used as a buffer to temporarily hold a subset of the target objects. For example, the robot system can receive an order to pick different target objects and place combinations of the different target objects as a group at two or more different drop locations. In another example, the robot system can receive an order to pick target objects and place combinations of the target objects sequentially, allowing another component of the robotic system to pick up and/or otherwise move a subset of the picked target objects before another subset is placed without requiring the object gripping assembly  320  ( FIG. 3 ) to execute multiple picking operations. 
     It will be understood that, in some embodiments, one or more of the blocks  1202 - 1210  can be combined, executed in a different order, and/or omitted altogether. Purely by way of example, determining which of the extendable gripping components to operate can include determining the desired pitch in the first and/or second directions. That is, determining which of the extendable gripping components to operate can include determining what pitch the operated extendable gripping components should be at. Accordingly, in such embodiments, the process  1200  can omit blocks  1204  and  1208  to avoid redundant determinations. In another example, the process can execute blocks  1208  and  1210  before blocks  1204  and  1206  and/or execute block  1208  before block  1206 . In yet another example, blocks  1204  and  1208  can be executed simultaneously and/or in parallel to determine the desired pitch for the extendable gripping components in the first and second directions concurrently. Similarly, blocks  1206  and  1210  simultaneously and/or in parallel to set the pitch of the extendable gripping components at (or near) the desired pitch in the first and second directions concurrently. 
       FIG. 13  is a flow diagram of a process  1300  for setting minimum and/or maximum pitch parameters for an object gripping assembly in accordance with some embodiments of the present technology. Like the process  1200  discussed above with respect to  FIG. 12 , the process  1300  can be executed by a controller on the object gripping assembly itself (e.g., one of the onboard controllers  480  discussed above with respect to  FIG. 4 ) and/or by an external controller (e.g., the controller  109  of  FIG. 1  having the processor  202  of  FIG. 2 ). The process  1300  is discussed herein with reference to the one or more second expandable components  464  discussed above with respect to  FIG. 4 . As discussed above, the second expandable component(s) are operably coupled to the second carrying plates to set the pitch of the second carrying plates. However, it will be understood that a similar process can be followed with respect to the first expandable component(s) to set minimum and/or maximum pitch parameters for the extendable gripping components on any given second carrying plate. 
     The process  1300  begins at block  1302  by expanding the second expandable component(s) within a desired range for the second expandable component(s). As a result, the pitch of the second carrying plates is reduced to be below a desired maximum pitch. In some embodiments, the second expandable component(s) are already within the desired range, allowing the process  1300  to skip block  1302 . 
     At block  1304 , the process  1300  includes setting a first stopping mechanism to an engaged position to prevent the second expandable component(s) from retracting beyond a first desired point, thereby preventing the actual pitch from increasing past the desired maximum. In some embodiments, the desired maximum can represent the larger of two or more operating pitches. In such embodiments, the first stopping mechanism allows the object gripping assembly to quickly toggle the pitch to the larger operating pitch by preventing the second expandable component(s) from retracting beyond the first desired point. For example, the second expandable component(s) can be quickly retracted and stopped by the first stopping mechanism, rather than requiring a careful retraction and precise stop. 
     At block  1306 , the process  1300  includes retracting the second expandable component(s) within the desired range for the expandable component. As a result, the pitch of the second carrying plates is increased to be below above a minimum pitch. In some embodiments, the second expandable component(s) are already within the desired range, allowing the process  1300  to skip block  1306 . 
     At block  1308 , the process  1300  includes setting a second stopping mechanism to an engaged position to prevent the second expandable component(s) from expanding beyond a second desired point, thereby preventing the actual pitch from decreasing past the desired minimum. In some embodiments, the desired minimum can represent the smaller of two or more operating pitches. In such embodiments, the first stopping mechanism allows the object gripping assembly to quickly toggle the pitch to the smaller operating pitch by preventing the second expandable component(s) from expanding beyond the second desired point. For example, the expandable component can be quickly retracted and be stopped by the second stopping mechanism rather than requiring a careful retraction and precise stop. 
     At block  1310 , the process  1300  includes operating the object gripping assembly within the desired range. As discussed above, during operation, the first and second stopping mechanisms prevent movement of the second expandable component(s), thereby allowing the object gripping assembly to quickly toggle between the minimum and maximum. In a specific, non-limiting example, the object gripping assembly can have two operating pitches for a specific project. The first desired point can correspond to the larger of two operating pitches, while the second first desired point can correspond to the smaller of two operating pitches. In such embodiments, the first and second stopping mechanisms can accelerate the operation of the object gripping assembly by allowing the object gripping assembly to quickly toggle between the two operating pitches (e.g., by eliminating the need for, or accelerating the process of, a slow alignment process with each change). The first and second stopping mechanisms can also prevent the pitch from being increased (or decreased) beyond the desired points based on spatial limitations. Purely by way of example, the maximum pitch can be set to prevent the pitch from encroaching on spatial limits of a carrier. 
     Further, as discussed above, each of the extendable gripping components can be operated independently, allowing the extendable gripping components to be extended and/or actuated to grip and/or release a target object independently. As a result, a subset of the target objects that are gripped by the extendable gripping components can be selectively released at any given destination and/or any subset of the extendable gripping components can be operated at a given pick-up location to pick target objects. 
     At block  1312 , the process  1300  includes setting the first and second stopping mechanisms to a disengaged position and/or resetting the first and second stopping mechanisms. Once moved into the disengaged positions, the first and second stopping mechanisms do not impede movement of the second expandable component(s), thereby returning the second expandable component(s) to a full range of motion. 
     It will be understood that, in some embodiments, one or more of the blocks  1302 - 1310  can be combined, executed in a different order, and/or omitted altogether. Purely by way of example, as discussed above, either of blocks  1302  or  1306  can be omitted when the second expandable component(s) are already within the desired range. In another example, the process  1300  can include setting only a single stopping mechanism (e.g., setting a maximum pitch based on spatial requirements), and therefore omit blocks  1306  and  1308 . In yet another example, when the second expandable component(s) are already within the desired range, the process can combine blocks  1304  and  1308  to set the first and second stopping mechanisms at the same time. And in yet another example, the process  1300  can execute blocks  1306  and  1308  before blocks  1302  and  1304  to engage the second stopping mechanism before engaging the first stopping mechanism. 
     Examples 
     The present technology is illustrated, for example, according to various aspects described below. Various examples of aspects of the present technology are described as numbered examples (1, 2, 3, etc.) for convenience. These are provided as examples and do not limit the present technology. It is noted that any of the dependent examples can be combined in any suitable manner, and placed into a respective independent example. The other examples can be presented in a similar manner.
         1. An object gripping assembly, comprising:   a first carrying plate having:
           an upper surface, the upper surface including a flange configured to connect to a robotic arm; and   a lower surface opposite the upper surface, the lower surface including at least one first mounting track extending along a first axis on the lower surface;   
           a plurality of second carrying plates slidably carried by the at least one first mounting track on the first carrying plate, wherein each of the plurality of second carrying plates includes:
           at least one second mounting track extending along a second axis at least partially orthogonal to the first axis; and   a plurality of extendable gripping components slidably carried by the at least one second mounting track;   
           a first adjustment plate operably coupled to the plurality of second carrying plates to adjust a pitch of the plurality of second carrying plates in the first axis; and   a plurality of second adjustment plates, each of the plurality of second adjustment plates carried by a corresponding second carrying plate and operably coupled to the plurality of extendable gripping components on the corresponding second carrying plate to adjust a pitch of the plurality of extendable gripping components in the second axis.   2. The object gripping assembly of example 1, further comprising an expandable component operably coupled to the first adjustment plate and the first carrying plate to adjust a position of the first adjustment plate with respect to the first carrying plate.   3. The object gripping assembly of example 2 wherein adjusting the position of the first adjustment plate with respect to the first carrying plate changes a pitch of the plurality of second carrying plates along the first axis.   4. The object gripping assembly of any of examples 1-3 wherein:   each of the plurality of second carrying plates further include at least one vertical mounting track extending in a vertical axis at least partially orthogonal to both of the first axis and the second axis;   each of the plurality of second adjustment plates is slidably carried by the at least one vertical mounting track on the corresponding second carrying plate; and   the object gripping assembly further comprises a plurality of expandable components, each of the plurality of expandable components operably coupled to a corresponding second adjustment plate and the corresponding second carrying plate to adjust a position of the corresponding second adjustment plate with respect to the corresponding second carrying plate.   5. The object gripping assembly of example 4 wherein adjusting the position of the corresponding second adjustment plate with respect to the corresponding second carrying plate changes a pitch of the plurality of extendable gripping components along the second axis.   6. The object gripping assembly of any of examples 1-5 wherein each of the plurality of second carrying plates further includes a sliding stopper operable between an engaged position and a disengaged position, wherein, in the engaged position, the sliding stopper prevents movement of a corresponding second adjustment plate beyond a predetermined position.   7. The object gripping assembly of any of examples 1-6 wherein each of the plurality of extendable gripping components includes:   an extendable assembly with a proximal end slidably carried by the at least one second mounting track and a distal end opposite the proximal end; and   a gripping element carried by the distal end, wherein the extendable assembly is configured to extend and retract along a vertical axis at least partially orthogonal to both of the first axis and the second axis.   8. The object gripping assembly of any of examples 1-7 wherein each of the plurality of extendable gripping components is independently extendable.   9. The object gripping assembly of any of examples 1-8 wherein one or more of the plurality of extendable gripping components includes a distal end and a gripping element at the distal end, the gripping element including one or more of: a suction element, a vacuum port, a magnetic component, a pneumatic gripper, or a robotic gripper.   10. A method of operating an object gripping assembly having a plurality of gripping components that are independently operable, the method comprising:   determining a set of the plurality of gripping components to operate during a gripping operation;   determining a first desired pitch for the set of the plurality of gripping components along a first axis;   determining a second desired pitch for the set of the plurality of gripping components along a second axis at least partially orthogonal to the first axis;   generating commands for operating a first expandable component along a third axis at least partially orthogonal to both the first axis and the second axis, wherein operating the first expandable component adjusts a first actual pitch for at least a portion of the set of the plurality of gripping components along the first axis toward the first desired pitch; and   generating commands for operating a second expandable component along the third axis, wherein operating the second expandable component adjusts a second actual pitch of the set of the plurality of gripping components along the first axis toward the first desired pitch.   11. The method of example 10 wherein each of the plurality of gripping components include an expandable body, and wherein the method further comprises, generating commands for extending the expandable body for each of the gripping components in the set of the plurality of gripping components.   12. The method of any of examples 10-11 wherein the gripping operation is a first gripping operation and the set of the plurality of gripping components is a first set, and wherein the method further comprises:   determining a second set of the plurality of gripping components to operate during a second gripping operation;   determining a third desired pitch for the second set of the plurality of gripping components along the first axis;   determining a fourth desired pitch for the second set of the plurality of gripping components along the second axis;   generating commands for further operating the first expandable component along the third axis, wherein further operating the first expandable component adjusts a third actual pitch for at least a portion of the second set of the plurality of gripping components along the first axis toward the third desired pitch; and   generating commands for further operating the second expandable component along the third axis, wherein further operating the second expandable component adjusts a fourth actual pitch for the second set of the plurality of gripping components along the first axis toward the fourth desired pitch.   13. The method of example 12 determining the second set of the plurality of gripping components includes determining the second set of the plurality of gripping components that is different from those of the first set of the plurality of gripping components.   14. The method of any of examples 10-13, further comprising:   generating commands for lowering the set of the plurality of gripping components toward one or more objects to be moved;   generating commands for operating the set of the plurality of gripping components to attach to the one or more objects; and raising the set of the plurality of gripping components while attached to the one or more objects.   15. The method of any of examples 10-14, further comprising, generating commands for positioning a slidable stopper to prevent the first expandable component from expanding beyond a predetermined position before operating the first expandable component along the third axis.   16. A robotic system, comprising:   a robotic arm; and   an object gripping assembly carried by the robotic arm, the object gripping assembly including:
           a first carrying plate with a first mounting track extending along a first axis;   two or more second carrying plates movably carried by the first mounting track, wherein each of the two or more second carrying plates includes:
               a second mounting track extending along a second axis at least partially orthogonal to the first axis; and   two or more extendable gripping components movably carried by the second mounting track on the second carrying plate;   
               a first pitch adjusting component operably coupled to the first carrying plate and the two or more second carrying plates, the first pitch adjusting component configured to controllably change a first pitch between the two or more second carrying plates along the first mounting track;   two or more second pitch adjusting components operably coupled to a corresponding second carrying plate and the two or more extendable gripping components carried by the second mounting track, each of the two or more second pitch adjusting components configured to controllably change a second pitch between the two or more extendable gripping components along the second mounting track.   
           17. The robotic system of example 16 wherein the first pitch adjusting component includes:   a pitch adjusting plate having two or more grooves operably coupled to the two or more second carrying plates, wherein the two or more grooves are oriented partially along the first axis, and wherein a position of the pitch adjusting plate with respect to the first carrying plate at least partially positions the two or more second carrying plates operably coupled to the two or more grooves; and   an expandable component operably coupled to the first carrying plate and the pitch adjusting plate, wherein expansion and contraction of the expandable component changes the position of the pitch adjusting plate with respect to the first carrying plate.   18. The robotic system of any of examples 16-17 wherein each of the two or more second pitch adjusting components includes:   a pitch adjusting plate having two or more grooves operably coupled to the two or more extendable gripping components, wherein the two or more grooves are oriented partially along the second axis, and wherein a position of the pitch adjusting plate with respect to the corresponding second carrying plate at least partially positions the two or more extendable gripping components operably coupled to the two or more grooves; and   an expandable component operably coupled to the corresponding second carrying plate and the pitch adjusting plate, wherein expansion and contraction of the expandable component changes the position of the pitch adjusting plate with respect to the corresponding second carrying plate.   19. The robotic system of any of examples 16-18 wherein each of the two or more extendable gripping components on each of the two or more second carrying plates is individually extendable.   20. The robotic system of any of examples 16-19 wherein each of the two or more extendable gripping components on each of the two or more second carrying plates includes at least one of a distal end and a gripping element at the distal end, the gripping element including one or more of: a suction element, a vacuum port, a magnetic component, a pneumatic gripper, or a robotic gripper.   21. The robotic system of any of examples 16-19, further comprising a processor operably coupled to the robotic arm and/or the object gripping assembly.   22. The robotic system of example 21, wherein the processor is configured to:   determine a set of the plurality of the two or more extendable gripping elements to operate during a gripping operation;   determine a desired pitch for the set of the two or more extendable gripping elements along the first axis; and operate the first pitch adjustment component to adjust an actual pitch for the set of the two or more extendable gripping elements toward the desired pitch.   23. The robotic system of any of examples 21 and 22, wherein the processor is configured to:   determine a set of the plurality of the two or more extendable gripping elements on each of the second carrying plates to operate during a gripping operation;   determine a desired pitch for the set of the two or more extendable gripping elements along the second axis; and   operate the two or more second pitch adjustment components to adjust an actual pitch of the set of the two or more extendable gripping elements toward the desired pitch.   24. An object gripping assembly, comprising:   a first carrying plate with a first mounting track extending along a first axis;   two or more second carrying plates movably carried by the first mounting track, wherein each of the two or more second carrying plates includes:
           a second mounting track extending along a second axis at least partially orthogonal to the first axis; and   a plurality of extendable gripping elements movably carried by the second mounting track on the second carrying plate;   
           a first pitch adjusting component operably coupled to the first carrying plate and the two or more second carrying plates, the first pitch adjusting component configured to controllably adjust a first pitch of the plurality of extendable gripping along the first axis;   a second pitch adjusting component operably coupled to a corresponding second carrying plate and the two or more extendable gripping elements carried by the second mounting track, the second pitch adjusting component configured to controllably adjust a second pitch of the plurality of extendable gripping elements along the second axis.   25. An object gripping assembly, comprising:   a first carrying plate;   a plurality of second carrying plates carried by the first plate, wherein each of the plurality of second carrying plates includes:
           a mounting track extending along a horizontal axis;   a plurality of extendable gripping elements movably carried by the mounting track on the second carrying plate; and   
           a plurality of pitch adjusting components, each of the operably plurality of pitch adjusting components coupled to a corresponding second carrying plate and the two or more extendable gripping elements carried by corresponding second carrying plate, wherein each of the operably plurality of pitch adjusting components is configured to controllably adjust a pitch of the plurality of extendable gripping elements along the horizontal axis.       

     26. The object gripping assembly of example 25 wherein each of the operably plurality of pitch adjusting components includes:
         a pitch adjusting plate having a plurality of grooves operably individually coupled to the plurality of extendable gripping elements carried by corresponding second carrying plate, wherein a position of the pitch adjusting plate with respect to the corresponding second carrying plate at least partially positions the plurality of extendable gripping elements operably coupled to the plurality of more grooves; and   an expandable component operably coupled to the corresponding second carrying plate and the pitch adjusting plate, wherein expansion and contraction of the expandable component changes the position of the pitch adjusting plate with respect to the corresponding second carrying plate.   27. The object gripping assembly of any of examples 25-26 wherein each of the plurality of extendable gripping elements on each of the plurality of second carrying plates is individually extendable.   28. The object gripping assembly of any of examples 25-27 wherein the first carrying plate includes a flange coupleable to a robotic positioning system, and wherein the flange includes one or more communication channels operably coupled to the plurality of pitch adjusting components.   29. The object gripping assembly of any of examples 25-28, further comprising a controller carried by the first mounting plate, wherein the controller is operable coupled to each of the plurality of extendable gripping elements and each of the plurality of pitch adjusting components.       

     CONCLUSION 
     From the foregoing, it will be appreciated that specific embodiments of the technology have been described herein for purposes of illustration, but well-known structures and functions have not been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments of the technology. To the extent any material incorporated herein by reference conflicts with the present disclosure, the present disclosure controls. Where the context permits, singular or plural terms may also include the plural or singular term, respectively. Moreover, unless the word “or” is expressly limited to mean only a single item exclusive from the other items in reference to a list of two or more items, then the use of “or” in such a list is to be interpreted as including (a) any single item in the list, (b) all of the items in the list, or (c) any combination of the items in the list. Furthermore, as used herein, the phrase “and/or” as in “A and/or B” refers to A alone, B alone, and both A and B. Additionally, the terms “comprising,” “including,” “having,” and “with” are used throughout to mean including at least the recited feature(s) such that any greater number of the same features and/or additional types of other features are not precluded. 
     From the foregoing, it will also be appreciated that various modifications may be made without deviating from the disclosure or the technology. For example, one of ordinary skill in the art will understand that various components of the technology can be further divided into subcomponents, or that various components and functions of the technology may be combined and integrated. In addition, certain aspects of the technology described in the context of particular embodiments may also be combined or eliminated in other embodiments. Furthermore, although advantages associated with certain embodiments of the technology have been described in the context of those embodiments, other embodiments may also exhibit such advantages, and not all embodiments need necessarily exhibit such advantages to fall within the scope of the technology. Accordingly, the disclosure and associated technology can encompass other embodiments not expressly shown or described herein.