Patent Publication Number: US-2020290825-A1

Title: Robotic system with handling mechanism and method of operation thereof

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims the benefit of U.S. Provisional Patent Application Ser. No. 62/818,399 filed Mar. 14, 2019, and the subject matter thereof is incorporated herein by reference thereto. 
    
    
     TECHNICAL FIELD 
     The present technology is directed generally to robotic systems and, more specifically, to handling mechanism. 
     BACKGROUND 
     Modern robotics and automation are providing increasing levels of functionality to support in industrial settings, such as manufacturing facilities, receiving and distribution centers, and warehouses. Research and development in the existing technologies can take a myriad of different directions. 
     As users become more empowered with the growth of robotic systems, new and old paradigms begin to take advantage of this new technology space. There are many technological solutions to take advantage of these new capabilities to enhance or augment automation of robotic systems, such as the capability for the robotic systems to autonomously handle various objects. However, users are not provided the option rely on the robotic systems to accurately and efficiently identify objects from a collection of objects in a consistent manner. 
     Thus, a need still remains for a robotics system with a handling mechanism that is configurable. In view of the ever-increasing commercial competitive pressures, along with growing consumer expectations and the diminishing opportunities for meaningful product differentiation in the marketplace, it is increasingly critical that answers be found to these problems. Additionally, the need to reduce costs, improve efficiencies and performance, and meet competitive pressures adds an even greater urgency to the critical necessity for finding answers to these problems. 
     Solutions to these problems have been long sought but prior developments have not taught or suggested any solutions and, thus, solutions to these problems have long eluded those skilled in the art. 
     SUMMARY 
     An embodiment of the present invention provides a gripper including: an orientation sensor configured to generate an orientation reading for a target object; a first grasping blade configured to secure the target object; a second grasping blade configured to secure the target object in conjunction with the first grasping blade and at an opposite end of the target object relative to the first grasping blade; a first position sensor configured to generate a first position reading of the first grasping blade relative to the target object and located with the first grasping blade; a second position sensor configured to generate a second position reading of the second grasping blade relative to the target object and located with the second grasping blade; and a blade actuator configured to secure the target object with the first grasping blade and the second grasping blade based on a valid orientation of the orientation reading and based on the first position reading and the second position reading indicating a stable condition, and coupled to the first grasping blade and the second grasping blade. 
     An embodiment of the present invention provides a method of operation of a robotic system including a gripper further including: generating an orientation reading for a target object; generating a first position reading representing a position of a first grasping blade of the gripper relative to the target object; generating a second position reading representing a position of a second grasping blade of the gripper relative to the target object and the second grasping blade located at an opposite side of the target object as the first grasping blade, and executing an instruction for securing the target object with the first grasping blade and the second grasping blade based on a valid orientation reading of the orientation reading and based on the first position reading and the second position reading indicating a stable condition. 
     An embodiment of the present invention provides a robotic system, including: a control unit configured to: verify a valid orientation for a target object, determine a stable condition for the target object based on a first position reading of a first grasping blade of a gripper relative to the target object and a second position reading of a second grasping blade of the gripper relative to the target object, generate a chuck command based on the stable condition and the valid orientation for the target object; and a communication unit, coupled to the control unit, configured to: transmit the chuck command for securing the target object with the first grasping blade and the second grasping blade. 
     Certain embodiments of the invention have other steps or elements in addition to or in place of those mentioned above. The steps or elements will become apparent to those skilled in the art from a reading of the following detailed description when taken with reference to the accompanying drawings. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG. 1  is an example environment for a robotic system with a handling mechanism in an embodiment. 
         FIG. 2  is an example of a block diagram of the robotic system. 
         FIG. 3  is a top perspective view of an example of the gripper with the target object in an embodiment. 
         FIG. 4  is a top perspective view exposing a portion of an interior of the gripper. 
         FIG. 5  is a top perspective view of the gripper positioning with the target object. 
         FIG. 6  is a detailed view of a portion of the gripper of positioning with the target object. 
         FIG. 7  is a perspective view of the gripper of  FIG. 5  orienting to the target object. 
         FIG. 8  is a detailed view of a portion of the gripper of  FIG. 7  orienting with the target object. 
         FIG. 9  is a bottom view of the gripper. 
         FIG. 10  is a bottom perspective view of the gripper of  FIG. 9 . 
         FIG. 11  is an exploded bottom perspective view of the gripper of  FIG. 10 . 
         FIG. 12  is a perspective view of the gripper with the actuation interface. 
         FIG. 13  is a perspective view of a gripper in a further embodiment. 
         FIG. 14  is a control flow for the robotic system of  FIG. 1 . 
         FIG. 15  is flow chart of a method of operation of a robotic system in an embodiment of the present invention. 
     
    
    
     DETAILED DESCRIPTION 
     In the following description, numerous specific details are set forth to provide a thorough understanding of the presently disclosed technology. In other embodiments, the techniques introduced here can be practiced without these specific details. In other instances, well-known features, such as specific functions or routines, are not described in detail in order to avoid unnecessarily obscuring the present disclosure. References in this description to “an embodiment,” “one embodiment,” or the like mean that a particular feature, structure, material, or characteristic being described is included in at least one embodiment of the present disclosure. The appearances of such phrases in this specification do not necessarily all refer to the same embodiment. On the other hand, such references are not necessarily mutually exclusive. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments. 
     It is to be understood that the various embodiments shown in the figures are merely illustrative representations. Further, the drawings showing embodiments of the system are semi-diagrammatic, and not to scale and, particularly, some of the dimensions are for the clarity of presentation and are shown exaggerated in the drawing figures. Similarly, although the views in the drawings for ease of description generally show similar orientations, this depiction in the figures is arbitrary for the most part. Generally, the invention can be operated in any orientation. 
     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 cooperate 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. 
     The following embodiments are described in sufficient detail to enable those skilled in the art to make and use the invention. It is to be understood that other embodiments would be evident based on the present disclosure, and that system, process, or mechanical changes may be made without departing from the scope of an embodiment of the present invention. 
     The term “module” or “unit” referred to herein can include software, hardware, mechanical mechanisms, or a combination thereof in an embodiment of the present invention, in accordance with the context in which the term is used. For example, the software can be machine code, firmware, embedded code, or application software. Also, for example, the hardware can be circuitry, a processor, a special purpose computer, an integrated circuit, integrated circuit cores, a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), a passive device, or a combination thereof. Furthermore, the mechanical mechanism can include actuators, motors, arms, joints, handles, end effectors, guides, mirrors, anchoring bases, vacuum lines, vacuum generators, liquid source lines, or stoppers. Further, if a “module” or “unit” is written in the system claims section below, the “module” or “unit” is deemed to include hardware circuitry for the purposes and the scope of the system claims. 
     The modules or units in the following description of the embodiments can be coupled or attached to one another as described or as shown. The coupling or attachment can be direct or indirect without or with intervening items between coupled or attached modules or units. The coupling or attachment can be by physical contact or by communication between modules or units. 
     Referring now to  FIG. 1 , therein is shown an example environment for a robotic system  100  with a handling mechanism in an embodiment. The 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. 
     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 , a robotic unit  110 , a controller  112 , or a combination thereof in a warehouse, a distribution center, or a shipping hub. The robotic system  100  or a portion of 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 a target object  120  from a vehicle, such as a truck, trailer, a van, or train car, for storage in a warehouse or to unload the target object  120  from storage locations and load the target object  120  onto a vehicle for shipping. The tasks are functions performed or executed by the robotic system  100  for the physical transformation upon the unloading unit  102 , the transfer unit  104 , the transport unit  106 , the loading unit  108 , the robotic unit  110 , or a combination thereof. 
     For example, the task can include moving the target object  120  from one location, such as a container, bin, cage, basket, shelf, platform, pallet, or conveyor belt, to another location. The robotic system  100  or a portion of the robotic system  100  can be configured to execute a sequence of actions, such as operating one or more components therein, to execute a task. 
     The target object  120  can represent one or more containers to be displaced or moved by the robotic system  100 . An example of the target object  120  can include bins, boxes, crates, enclosures, packages, or a combination thereof. The target object  120  will be further described later. 
       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  120  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  120  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  120  from a location on the conveyor belt to a location on the transport unit  106 , such as for loading the target object  120  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  120 . In completing the operation, the transport unit  106  can transfer the target object  120  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  120 , such as by moving the pallet carrying the target object  120 , from the transfer unit  104  to a storage location, such as a location on the shelves. 
     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 controller  112  can provide the intelligence for the robotic system  100  or a portion of the robotic system  100  to perform the tasks. As an example, the controller  112  can control the operations of the robotic unit  110  to move the target object  120 . 
     For illustrative purposes, the robotic system  100  is described with separate components, such as the robotic unit  110  and the controller  112 , although it is understood that the robotic system  100  can be organized differently. For example, the robotic system  100  can include the functions provided by the controller  112  distributed throughout the robotic system  100  and not as a separate enclosure as shown in  FIG. 1 . Also for example, the controller  112  can be included as a portion of the robotic unit  110 . Further for example, the controller  112  can be multiple enclosure each providing intelligences to different portions or units of the robotic system  100 . 
     Returning to the robotic unit  110 , the robotic unit  110  can include a gripper  122 . The robotic unit  110  can utilize the gripper  122  to move the target object  120  in the transfer unit  104 . As described earlier, the controller  112  can provide the intelligences for the robotic unit  110 . Similarly, the controller  112  can also provide the intelligence for the gripper  122 . 
     As an example, the intelligence from the controller  112  can be distributed with the robotic unit  110 . As a specific example, the gripper  122  can also provide some intelligence for the operation of the gripper  122  and can interact with the intelligence from the controller  112  or the distributed intelligence as part of the robotic unit  110 . 
     Referring now to  FIG. 2 , therein is shown an example of a block diagram of the robotic system  100 . The example shown in  FIG. 2  can be for the robotic system  100  shown in  FIG. 1 . In one embodiment, the robotic system  100  can include a control unit  202 , a storage unit  206 , a communication unit  212 , a user interface  216 , an actuation unit  220 , and a sensor unit  230 . In one embodiment, one or more of these components can be combined in the controller  112  as depicted by a dashed box. 
     The controller  112  can house a portion of the robotic system  100 . For example, the controller  112  can be a case, a chassis, a box, a console, a computer tower, or a computer motherboard. Continuing with the example, the control unit  202 , the storage unit  206 , the communication unit  212 , or a combination thereof can be housed and included in the controller  112 . Also for example, the control unit  202 , the storage unit  206 , the communication unit  212 , or a combination thereof can be housed and included in the controller  112  while the user interface  216 , can be accessible external to the controller  112 . 
     While one or more portions of the robotic system  100  can be housed in or on the controller  112 , other portions of the robotic system  100  can be external to the controller  112 . For example, the user interface  216 , the actuation unit  220 , the sensor unit  230 , or a combination thereof can be external to the controller  112  while the control unit  202 , the storage unit  206 , and the communication unit  212 , are housed and included in the controller  112 . Other combinations of portions of the robotic system  100  or the robotic unit  110  of  FIG. 1  can be housed in the controller  112 . 
     The control unit  202  can execute a software  210  to provide the intelligence of the robotic system  100 . The control unit  202  can also execute the software  210  for the other functions of the robotic system  100 . 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. 
     For illustrative purposes, the control unit  202  is shown as a single element, although it is understood that the control unit  202  can represent a number of devices and a distribution of compute resources. For example, the control unit  202  can be a distribution of compute resources throughout and external to the robotic system  100 . Also for example, the control unit  202  can be distributed between the controller  112 , the robotic unit  110 , the gripper  122  of  FIG. 1 , or a combination thereof. The software  210  can also be distributed between the controller  112 , the robotic unit  110 , the gripper  122 , or a combination thereof. 
     The control unit  202  can include a control interface  204 . The control interface  204  can be used for communication between the control unit  202  and other functional units of the robotic system  100 . The control interface  204  can also be used for communication that is external to the robotic system  100 . The control interface  204  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 control interface  204  can be implemented in different ways and can include different implementations depending on which functional units or external units are being interfaced with the control interface  204 . For example, the control interface  204  can be implemented with a pressure sensor, an inertial sensor, a microelectromechanical system (MEMS), optical circuitry, waveguides, wireless circuitry, wireline circuitry, an application programming interface, or a combination thereof. 
     The storage unit  206  can store the software  210 . For illustrative purposes, the storage unit  206  is shown as a single element, although it is understood that the storage unit  206  can represent a number of devices and a distribution of storage elements. Also for illustrative purposes, the robotic system  100  is shown with the storage unit  206  as a single hierarchy storage system, although it is understood that the robotic system  100  can have the storage unit  206  in a different configuration. For example, the storage unit  206  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. Also for example, the storage unit  206  can be distributed between the controller  112 , the robotic unit  110 , the gripper  122 , or a combination thereof. The software  210  can also be distributed between the controller  112 , the robotic unit  110 , the gripper  122 , or a combination thereof. 
     The storage unit  206  can be a volatile memory, a nonvolatile memory, an internal memory, an external memory, or a combination thereof. For example, the storage unit  206  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). 
     The storage unit  206  can include a storage interface  208 . The storage interface  208  can be used for communication between the storage unit  206  and other functional units of the robotic system  100 . The storage interface  208  can also be used for communication external to the robotic system  100 . The storage interface  208  can receive information from the other functional units of the robotic system  100  or from external sources, or can transmit information to the other functional units of the robotic system  100  or to external destinations. The external sources and the external destinations refer to sources and destinations external to the robotic system  100 . 
     The storage interface  208  can include different implementations depending on which functional units or external units are being interfaced with the storage unit  206 . The storage interface  208  can be implemented with technologies and techniques similar to the implementation of the control interface  204 . 
     The communication unit  212  can enable communication to and from the robotic system  100 , including communication between portions of the robotic system  100 , external devices, or a combination thereof. For example, the communication unit  212  can permit the robotic system  100  to communicate with an external device, such as an external computer, an external database, an external machine, an external peripheral device, or a combination thereof through a communication path  238 . 
     The communication path  238  can span and represent a variety of networks and network topologies. For example, the communication path  238  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 (lrDA), wireless fidelity (WiFi), and worldwide interoperability for microwave access (WiMAX) are examples of wireless communication that can be included in the communication path  238 . 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  238 . 
     Further, the communication path  238  can traverse a number of network topologies and distances. For example, the communication path  238  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 control unit  202  can further execute the software  210  for interaction with the communication path  238  via the communication unit  212 . 
     The communication unit  212  can also function as a communication hub allowing the robotic system  100  to function as part of the communication path  238  and not be limited to be an end point or terminal unit to the communication path  238 . The communication unit  212  can include active and passive components, such as microelectronics or an antenna, for interaction with the communication path  238 . 
     The communication unit  212  can include a communication interface  214 . The communication interface  214  can be used for communication between the communication unit  212  and other functional units of the robotic system  100 . The communication interface  214  can receive information from the other functional units of the robotic system  100  or from external sources, or can transmit information to the other functional units of the robotic system  100  or to external destinations. The communication interface  214  can include different implementations depending on which functional units are being interfaced with the communication unit  212 . The communication interface  214  can be implemented with technologies and techniques similar to the implementation of the control interface  204 . 
     The control unit  202  can operate the user interface  216  to present or receive information generated by the robotic system  100 . The user interface  216  can include an input device and an output device. Examples of the input device of the user interface  216  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  218  and an audio interface  232 . 
     The display interface  218  can be any graphical user interface such as a display, a projector, a video screen, or any combination thereof. The audio interface  232  can include speakers, microphones, headphones, subwoofers, sound components, transducers, or any combination thereof. The display interface  218  and the audio interface  232  allow a user of the robotic system  100  to interact with the robotic system  100 . The display interface  218  and the audio interface  232  can be optional. 
     The robotic system  100  can also include the actuation unit  220 . The actuation unit  220  can include devices, for example, motors, springs, gears, pulleys, chains, rails, wires, artificial muscles, electroactive polymers, or a combination thereof, configured to drive, manipulate, displace, orient, re-orient, or a combination thereof, the structural members or mechanical components of the robotic system  100  about or at a corresponding mechanical joint. The control unit  202  can operate the actuation unit  220 , to control or manipulate the actuation unit  220 . 
     For illustrative purposes, the actuation unit  220  is shown as a single element, although it is understood that the actuation unit  220  can represent a number of devices and be a distribution of actuators. For example, the actuation unit  220  can be distributed throughout the robotic system  100 . Also for example, the actuation unit  220  can be distributed throughout the robotic unit  110 , the gripper  122 , or a combination thereof. 
     The actuation unit  220  can include an actuation interface  222 . The actuation interface  222  can be used for communication between the actuation unit  220  and other functional units of the robotic system  100 , the robotic unit  110 , the gripper  122 , or a combination thereof. The actuation interface  222  can also be used for communication that is external to the robotic system  100 . The actuation interface  222  can receive information from the other functional units of the robotic system  100  or from external sources, or can transmit information to the other functional units or to external destinations. The actuation interface  222  can function as a source for the actuation process, such as gas lines. 
     The actuation interface  222  can include different implementations depending on which functional units of the robotic system  100  or external units are being interfaced with the actuation unit  220 . The actuation interface  222  can be implemented with technologies and techniques similar to the implementation of the control interface  204 . The actuation interface  222  can also be implemented with pneumatic or gas devices. 
     The robotic system  100  can include the sensor unit  230  configured to obtain sensor readings  246  used to execute the tasks and operations, such as for manipulating the structural members of the robotic system  100 , the robotic unit  110 , the gripper  122 , or a combination thereof. The sensor unit  230  can also be configured to obtain the sensor readings  246  for portions of the robotic system  100 . For example, the sensor unit  230  can obtain the sensor readings  246  for the robotic unit  110 , the gripper  122 , or a combination thereof. Also for example, the sensor unit  230  can obtain the sensor readings  246  for items operated upon by the robotic system  100 , the robotic unit  110 , the gripper  122 , or a combination thereof. As a specific example, the sensor unit  230  can object sensor readings  246  for the target object  120  of  FIG. 1 . 
     The sensor readings  246  can include information or data from the sensor unit  230  to detect events or changes in the environment of the robotic system  100  and to send the information to portions of the robotic system  100 , external devices, or a combination thereof to facilitate the tasks. Examples for the sensor readings  246  can include image readings, optical readings, pressure reading, distance reading, or a combination thereof. 
     For illustrative purposes, the sensor unit  230  is shown as a single element, although it is understood that the sensor unit  230  can represent a number of devices. For example, the actuation unit  220  can be distributed throughout the robotic system  100 . Also for example, the actuation unit  220  can be distributed throughout the robotic unit  110 , the gripper  122 , or a combination thereof. 
     The sensor unit  230  can include a sensor interface  224 . The sensor interface  224  can be used for communication between the sensor unit  230  and other portions of the robotic system  100 . The sensor interface  224  can also be used for communication that is external to the robotic system  100 . The sensor interface  224  can receive information from the other portions of the robotic system  100  or from external sources, or can transmit information to the other portions of the robotic system  100  or to external destinations. As a specific example, the sensor interface  224  can provide communication with and between the robotic unit  110 , the gripper  122 , or a combination thereof as well as with the other portions of the robotic system  100 . 
     The sensor interface  224  can include different implementations depending on which functional units of the robotic system  100  or external units are being interfaced with the sensor unit  230 . The sensor interface  224  can be implemented with technologies and techniques similar to the implementation of the control interface  204 . 
     Referring now to  FIG. 3 , therein is shown a top perspective view of an example of the gripper  122  with the target object  120  in an embodiment of the robotic system  100  of  FIG. 1 . The gripper  122  and the target object  120  can represent instances of the target object  120  as shown in  FIG. 1 . 
     The gripper  122  provides the handling and grasping mechanism of the robotic system  100 , or as a specific example the robotic unit  110  of  FIG. 1 . The robotic system  100  can also utilize the gripper  122  or different configurations of the gripper  122  in other portions of the robotic system  100 , such as the unloading unit  102  of  FIG. 1 . 
     In this example, this view of the gripper  122  is shown with covers  302  and a mounting plate  304 . The covers  302  assist in enclosing the internals of the gripper  122 . The mounting plate  304  provides an attachment mechanism to the robotic system  100 , or as a specific example the robotic unit  110 . The mounting plate  304  can include a mounting hole  306  at a central region of the mounting plate  304  for an attachment with the robotic system  100 , or as a specific example the robotic unit  110 . 
     In this example, the covers  302  are shown with two sets of pair of the covers  302  at opposite sides of the mounting plate  304 . Each of the pair of the covers  302  are located in a perpendicular configuration to the other pair. The mounting plate  304  is located in a central region between the covers  302 . 
     For clarity of reference, the x-axis refers to the direction along the longest side of the covers  302  as shown in  FIG. 3  and along the same side of the gripper  122 . The y-axis refers to the direction along the shorter side of the covers  302  as shown in  FIG. 3 . The y-axis also refers to the direction perpendicular to the x-axis. Both the x-axis and the y-axis are along the same plane as the covers. The z-axis refers to the direction perpendicular to both the x-axis and the y-axis. As an example, the origin of the x-axis, the y-axis, and the z-axis can be at the center of the mounting hole  306 . The origin refers to the zero value for the x-axis, the y-axis, and the z-axis or where these axes intersect. 
     The term “horizontal” is defined hereinafter as the plane parallel to the x-y plane. The term “vertical” is defined hereinafter as the plane perpendicular to the horizontal. 
     As an example, the gripper  122  can also include a frame  308 . The frame  308  provides the structure rigidity and grasping limitations for the gripper  122 . The mounting plate  304 , the covers  302 , or a combination thereof can be attached to the frame  308 . The frame  308  can be formed from a single structure or can be formed from segmented portion that are attached together. 
     Continuing with the description of the gripper  122 , the gripper  122  is shown in  FIG. 3  to include a first grasping blade  310 , a second grasping blade  312 , and a third grasping blade  314 . The first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , or a combination thereof can be used to secure the target object  120 . The target object  120  includes walls  316  along the vertical axis. The walls  316  can include an object top  318 , which are along the horizontal axis. 
     In this example, the first grasping blade  310  and the second grasping blade  312  are shown at opposite ends of the gripper  122 . The first grasping blade  310  and the second grasping blade  312  are shown parallel to each other. Also in this example, the third grasping blade  314  is shown at a side of the gripper  122  perpendicular to the sides where the first grasping blade  310  and the second grasping blade  312  are configured. 
     Also, the first grasping blade  310  along a line parallel to the y-axis can extend beyond the frame  308  along the y-axis. The second grasping blade  312  along a line parallel to the y-axis can extend beyond the frame  308  along a line parallel to the y-axis. In other words, the first grasping blade  310  and the second grasping blade  312  can be wider than the width of the frame  308  in that, along the line parallel to the y-axis, the lateral extent of the first grasping blade  310  and the lateral extent of the second grasping blade  312  can extend beyond the lateral extent of the frame  308 . Similarly, the third grasping blade  314  along a line parallel to the x-axis can extend beyond the frame  308  along a line parallel to the x-axis. In other words, the third grasping blade  314  can be wider than the width of the frame  308  in that, along the line parallel to the x-axis, the lateral extent of the third grasping blade  308  can extend beyond the lateral extent of the frame  308 . However, it is understood that the first grasping blade  312 , the second grasping blade  312 , the third grasping blade  314 , or a combination thereof can be in different configurations such that the respective widths are less than the width of the frame  308  along the respective y-axis and x-axis. 
     The second grasping blade  312  includes a second blade bottom  322 . The second blade bottom  322  is at a side of the second grasping blade  312  located away from the frame  308 . Similarly, the third grasping blade  314  includes a third blade bottom  324 . The third blade bottom  324  is at a side of the third blade bottom  324  located away from the frame  308 . 
     The example in  FIG. 3  also depicts the first grasping blade  310  including a first sensor bracket  326 . The first sensor bracket  326  is along a first vertical side of the first grasping blade  310 . The first sensor bracket  326  provides a mounting mechanism for a first actuator  328  to be attached to the first grasping blade  310  at that location. The first actuator  328  can help secure the target object  120  by pressing on the object top  318 . 
       FIG. 3  also depicts the second grasping blade  312  including a second sensor bracket  330 . The second sensor bracket  330  is along a second vertical side of the second grasping blade  312 . The second sensor bracket  330  provides a mounting mechanism for a second actuator  332  to be attached to the second grasping blade  312  at that location. The second actuator  332  can help secure the target object  120  by pressing on the object top  318 . 
     In this example shown, the first sensor bracket  326  and the second sensor bracket  330  are at opposite ends of the gripper  122 . Similarly, the first actuator  328  and the second actuator  332  are at opposite vertical ends of the gripper  122 . 
     As a further example, the first actuator  328  can optionally adjust the location of some of the sensor unit  230  of  FIG. 2  located at the first grasping blade  310 . The second actuator  332  can optionally adjust the location of some of the sensor unit  230  of  FIG. 2  located at the second grasping blade  312 . The first actuator  328 , the second actuator  332 , and the sensor unit  230  will be further described later. 
     The perspective view shown in  FIG. 3  also depicts a third actuator  334  and a fourth actuator  336 . In this example, the third actuator  334  has a similar function as the first actuator  328 . Also for example, the third actuator  334  is located at the opposite end of the first grasping blade  310  as the first actuator  328  along a line parallel to the y-axis. 
     Also in this example, the fourth actuator  336  has a similar function as the second actuator  332 . Also for example, the fourth actuator  336  is located at the opposite vertical end of the second grasping blade  312  as the second actuator  332 . 
     Now moving to the description to the target object  120 ,  FIG. 3  depicts the gripper  122  over the target object  120 . Also shown in  FIG. 3  is the first grasping blade  310 , the second grasping blade  312 , and the third grasping blade  314  next to the walls  316 . 
     In this example, the walls  316  are parallel in a vertical configuration. The walls  316  provide grasping structures for the gripper  122  to secure the target object  120 . Each or some of the walls  316  can include indents  338  to assist in securing the target object  120  with the gripper  122 , or as a specific example the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , or a combination thereof. The indents  338  are recessed portions of or openings in the walls  316 . The gripper  122  and the use of the indents  338  will be further described later. 
     Referring now to  FIG. 4 , therein is shown a top perspective view exposing a portion of an interior of the gripper  122 . The gripper  122  can represent the example shown in  FIG. 3  but rotated approximately 180 degrees along the z-axis as shown in  FIG. 3 . 
     In this example, the exposed interior depicts a blade actuator  402 . The blade actuator  402  provides linear displacement based on the movement of a displacement rod  404  attached at one end of the blade actuator  402  and the corresponding displacement of the blade actuator  402  at the other end. 
     Along one end of the blade actuator  402 , the blade actuator  402  is attached to the displacement rod  404 , which is connected to a first transfer bracket  406 . At the opposite end, the blade actuator  402  is attached to a second transfer bracket  408 . 
     The first transfer bracket  406  is used to impart the displacement from the blade actuator  402 . As an example, the blade actuator  402  can cause movement to the displacement rod  404  and imparting that movement with the first transfer bracket  406  to the first grasping blade  310 . In this example, the first transfer bracket  406  can be connected to a horizontal portion of the first grasping blade  310 . 
     The second transfer bracket  408  is also used to impart the displacement from the blade actuator  402 . As an example, the blade actuator  402  can cause movement to the second transfer bracket  408  in an opposite direction to the first transfer bracket  406 . In this example, the second transfer bracket  408  can be connected to a horizontal portion of the second grasping blade  312 . 
     The first transfer bracket  406  can be connected to a first blade limiter  410 . The first blade limiter  410  bounds the extent to which the first grasping blade  310  can extend along the direction parallel to the x-axis and along the direction away from the second grasping blade  312 . 
     As an example, the first blade limiter  410  can be a screw or an extendable rod. In this example, the first blade limiter  410  can include a first stopper  412  facing the frame  308 . The location of the first stopper  412  can be adjusted by the screw or extendable rod position of the first blade limiter  410  relative to the first transfer bracket  406 . The first stopper  412  limits the movement of the first transfer bracket  406 , the first grasping blade  310 , or a combination thereof when the first stopper  412  makes contact with the interior of the frame  308 . 
     The second transfer bracket  408  can be connected to a second blade limiter  414 . The second blade limiter  414  bounds the extent to which the second grasping blade  312  can extend along the direction parallel to the x-axis and along the direction away from the first grasping blade  310 . 
     As an example, the second blade limiter  414  can be a screw or an extendable rod. In this example, the second blade limiter  414  can include a second stopper  416  facing the frame  308 . The location of the second stopper  416  can be adjusted by the screw or extendable rod position of the second blade limiter  414  relative to the second transfer bracket  408 . The second stopper  416  limits the movement of the second transfer bracket  408 , the second grasping blade  312 , or a combination thereof when the second stopper  416  makes contact with the interior of the frame  308 . 
     For illustrative purposes, the gripper  122  is described with the blade actuator  402  configured with the displacement rod  404  connected to the first transfer bracket  406 , although it is understood that the gripper  122  can be configured differently. For example, the blade actuator  402  can connect to the first transfer bracket  406  without the displacement rod  404  or the displacement rod  404  being optional. Also for example, the blade actuator  402  can have the displacement rod  404  connected to the second transfer bracket  408 , which is in turn connected to the second grasping blade  312 . 
     Continuing the displacement description, the gripper  122  can include an actuation wheel  418  for imparting the displacement of the first grasping blade  310 , the second grasping blade  312 , or a combination thereof to the third grasping blade  314  of  FIG. 3 , a fourth grasping blade  420 , or a combination thereof. In this example, a first wheel rod  422  connects the horizontal portion of the first grasping blade  310  to the actuation wheel  418 . The first wheel rod  422  transfers the displacement to and from the actuation wheel  418 . The actuation wheel  418  and the transfer to displacement will be further described later. 
     Now describing a different portion of the gripper  122 , the fourth grasping blade  420  is shown at a side of the gripper  122  perpendicular to the sides where the first grasping blade  310  and the second grasping blade  312  are configured. The fourth grasping blade  420  includes a fourth blade bottom  424 . The fourth blade bottom  424  is at a side located away from the frame  308 . 
     The example in  FIG. 4  also depicts the first grasping blade  310  including a third sensor bracket  426 . The third sensor bracket  426  is along a vertical side of the first grasping blade  310  and located at an opposite side where the first sensor bracket  326  of  FIG. 3  is located. The third sensor bracket  426  provides a mounting mechanism for the third actuator  334  to be attached to the first grasping blade  310  at that location. 
       FIG. 4  also depicts the second grasping blade  312  including a fourth sensor bracket  428 . The fourth sensor bracket  428  is along a vertical side of the second grasping blade  312  and located at an opposite side where the second sensor bracket  330  of  FIG. 3  is located. The fourth sensor bracket  428  provides a mounting mechanism for the fourth actuator  336  to be attached to the second grasping blade  312  at that location. 
     In this example shown, the third sensor bracket  426  and the fourth sensor bracket  428  are at opposite ends of the gripper  122  along a line parallel to the x-axis. Similarly, the third actuator  334  and the fourth actuator  336  are at opposite ends of the gripper  122  along a line parallel to the x-axis. 
     As a further example, the third actuator  334  can optionally adjust the location of some of the sensor unit  230  of  FIG. 2  located at the first grasping blade  310 . The fourth actuator  336  can optionally adjust the location of some of the sensor unit  230  of  FIG. 2  located at the second grasping blade  312 . The third actuator  334 , the fourth actuator  336 , and the sensor unit  230  of  FIG. 2  will be further described later. 
     The perspective view shown in  FIG. 3  also depicts the first actuator  328  and the second actuator  332 . The example shown in  FIG. 4  depicts a number of the target object  120  stacked on top of another. In this example, the gripper  122  is shown not yet securing any of the target object  120 . 
       FIG. 4  also depicts protrusions  430  on the second grasping blade  312  and the fourth grasping blade  420 . The protrusions  430  are physical features for the gripper  122  to secure and assist lifting the target object  120 . The protrusions  430  can be placed or located to fit into the indents  338  along the walls  316  of the target object  120 . The protrusions  430  can also be placed or located proximate to regions of the walls  316  without one of the indents  338 . 
     For example, the protrusions  430  can be integral to the second grasping blade  312  as well as the fourth grasping blade  420 . Also for example, the protrusions  430  can separate from and attached to the second grasping blade  312  as well as the fourth grasping blade  420 . 
     The perspective view of  FIG. 4  depicts one of the protrusions  430  on the second grasping blade  312  and another one on the fourth grasping blade  420 . However, the second grasping blade  312  can include more than one of the protrusions  430 . Similarly, the fourth grasping blade  420  can also include more than one of the protrusions  430 . Further, the first grasping blade  310  can also include one or more of the protrusions  430 , although not shown in  FIG. 4 . Similarly, the third grasping blade  314  can also include one or more of the protrusions  430 , although not shown in  FIG. 4 . 
     In this example, the first grasping blade  310  and the second grasping blade  312  are shown to be at the same level as the fourth grasping blade  420  to secure the target object  120 . Similarly in the example shown in  FIG. 3 , the first grasping blade  310  and the second grasping blade  312  at the same level as the third grasping blade  314  to secure the target object  120 . 
     For illustrative purposes, the gripper  122  is shown to be configured with the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314  of  FIG. 3 , and the fourth grasping blade  420  at the same level to secure the target object  120 , although it is understood that the gripper  122  can be configured differently. For example, the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , and the fourth grasping blade  420  can each be at a different level depending on the configuration, weight distribution, height, or a combination thereof of the target object  120 . Also for example, the some of the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , the fourth grasping blade  420 , or a combination thereof can be at the same level while the others being at a different level. 
     Also for illustrative purposes, the gripper  122  is shown with the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , and the fourth grasping blade  420  at the same level to secure the target object  120 , although it is understood that the gripper  122  can be configured differently. For example, the first grasping blade  310  and the second grasping blade  312  can be at the same level to secure the target object  120  in the stack. Continuing with the same example, the third grasping blade  314  and the fourth grasping blade  420  can be at the same level but different from the first grasping blade  310  and the second grasping blade  312  to secure a different instance of the target object  120  in the stack. 
     Referring now to  FIG. 5 , therein is shown a top perspective view of the gripper  122  positioning with the target object  120 . The example shown in  FIG. 5  can represent the gripper  122  of  FIG. 4  but in a different angle for the perspective view. 
     In this example, the first grasping blade  310  and the second grasping blade  312  include a first slot  502  and a second slot  504 , respectively. The first slot  502  is located along and proximate a vertical side. The second slot  504  is located along and proximate a vertical side. As a specific example, the first slot  502  and the second slot  504  can be located facing each other or along a horizontal line. 
     Continuing with the example, the first grasping blade  310  and the second grasping blade  312  can also include a third slot  506  and a fourth slot  508 , respectively. The third slot  506  is located along and proximate a vertical side. The fourth slot  508  is located along and proximate a vertical side. As a specific example, the third slot  506  and the fourth slot  508  can be located facing each other or along a horizontal line. 
     The first grasping blade  310  and the second grasping blade  312  can include the sensor unit  230  of  FIG. 2  located in the first slot  502 , the second slot  504 , the third slot  506 , the fourth slot  508 , or a combination thereof. As previously discussed, the sensor unit  230  can provide or generate the sensor readings  246  of  FIG. 2 . 
     As a specific example, the sensor unit  230  can include a first position sensor  510 , a second position sensor  512 , a third position sensor  514 , a fourth position sensor  516 , or a combination thereof. Also as a specific example, the sensor readings  246  can include a first position reading  518 , a second position reading  520 , a third position reading  522 , a fourth position reading  524 , or a combination thereof. 
     The first position sensor  510  can provide location information of the first grasping blade  310  relative to the target object  120  to the robotic system  100  of  FIG. 1 , or as a specific example to the robotic unit  110  of  FIG. 1 , the controller  112  of  FIG. 1 , or a combination thereof. As a specific example, the first position sensor  510  can provide location information of the first blade bottom  320  relative to the object top  318  of the target object  120 . 
     As a specific example, the first position sensor  510  can be an optical sensor and can generate the first position reading  518 . The first position reading  518  can indicate that the first position sensor  510  has detected that the first position sensor  510  is below the object top  318 . 
     The second position sensor  512  can provide location information of the second grasping blade  312  relative to the target object  120  to the robotic system  100 , or as a specific example to the robotic unit  110 , the controller  112 , or a combination thereof. As a specific example, the second position sensor  512  can provide location information of the second blade bottom  322  relative to the object top  318  of the target object  120 . 
     As a specific example, the second position sensor  512  can be an optical sensor and can generate the second position reading  520 . The second position reading  520  can indicate that the second position sensor  512  has detected that the second position sensor  512  is below the object top  318 . 
     The third position sensor  514  can provide location information of the first grasping blade  310  relative to the target object  120  to the robotic system  100 , or as a specific example to the robotic unit  110 , the controller  112 , or a combination thereof. As a specific example, the third position sensor  514  can provide location information of the first blade bottom  320  relative to the object top  318  of the target object  120 . 
     As a specific example, the third position sensor  514  can be an optical sensor and can generate the third position reading  522 . The third position reading  522  can indicate that the third position sensor  514  has detected that the third position sensor  514  is below the object top  318 . 
     The fourth position sensor  516  can provide location information of the second grasping blade  312  relative to the target object  120  to the robotic system  100 , or as a specific example to the robotic unit  110 , the controller  112 , or a combination thereof. As a specific example, the fourth position sensor  516  can provide location information of the second blade bottom  322  relative to the object top  318  of the target object  120 . 
     As a specific example, the fourth position sensor  516  can be an optical sensor and can generate the fourth position reading  524 . The fourth position reading  524  can indicate that the fourth position sensor  516  has detected that the fourth position sensor  516  is below the object top  318 . 
     As an example, the first position sensor  510  can be located within the first slot  502  to achieve the predetermined distance between the first blade bottom  320  and the object top  318 . Similarly, the third position sensor  514  can be located within the third slot  506  to achieve the predetermined distance between the first blade bottom  320  and the object top  318 . 
     Also for example, the second position sensor  512  can be located within the second slot  504  to achieve the predetermined distance between the second blade bottom  322  and the object top  318 . Similarly, the fourth position sensor  516  can be located within the fourth slot  508  to achieve the predetermined distance between the second blade bottom  322  and the object top  318 . 
     As a more specific example, the first position sensor  510  can operate with the second position sensor  512  to determine if both are below the object top  318 . In other words, the first position sensor  510  and the second position sensor  512  can operate such that one is generating an optical beam while the other is receiving the optical beam. While this optical beam is not broken, the first position reading  518 , the second position reading  520 , or a combination thereof can indicate that the first position sensor  510 , the second position sensor  512 , or a combination thereof are above the object top  318 . When the optical beam is broken, the first position reading  518 , the second position reading  520 , or a combination thereof can indicate that the first position sensor  510 , the second position sensor  512 , or a combination thereof are below the object top  318 . 
     Similarly as a more specific example, the third position sensor  514  can operate with the fourth position sensor  516  to determine if both are below the object top  318 . In other words, the third position sensor  514  and the fourth position sensor  516  can operate such that one is generating an optical beam while the other is receiving the optical beam. While this optical beam is not broken, the third position reading  522 , the fourth position reading  524 , or a combination thereof can indicate that the third position sensor  514 , the fourth position sensor  516 , or a combination thereof are above the object top  318 . When the optical beam is broken, the third position reading  522 , the fourth position reading  524 , or a combination thereof can indicate that the third position sensor  514 , the fourth position sensor  516 , or a combination thereof are below the object top  318 . 
     In this example, the gripper  122  is shown as not securing or not having grasped onto the target object  120 . As an example, the robotic system  100 , or as a specific example the robotic unit  110 , the controller  112 , or a combination thereof, can lower the gripper  122  such that the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof can contribute to an indication of a stable condition  526  depicted in  FIG. 5  as a planar rhomboid to represent planarity for stability. 
     The stable condition  526  reflects the location of the gripper  122  relative to the target object  120  to be grasped and perhaps moved. As an example, the stable condition  526  can be based on the first position reading  518  working in conjunction with the second position reading  520 . As a specific example, the stable condition  526  can be negated or lost when an optical beam is broken at different times between the first position sensor  510  and the second position sensor  512  as indicated by the first position reading  518 , the second position reading  520 , or a combination thereof. 
     The timing and tolerance of when the optical beam is broken to determine the stable condition  526  or not can vary based on a number of factors. For example, the speed in which the gripper  122  is lowered towards the target object  120  can determine a range of time where being within the range of time in which the optical beam is broken can be determined as the stable condition  526  while being outside of the range of time can be determined as not in the stable condition  526 . Also for example, the mechanical rigidity along the horizontal plane of the gripper  122  being held by the robotic unit  110  of  FIG. 1  can also provide a tolerance specification for the range of time similarly as described above. 
     As a further example, the stable condition  526  can be based the third position reading  522  working in conjunction with the fourth position reading  524 . As a specific example, the stable condition  526  can be negated or lost when an optical beam is broken at different times between the third position sensor  514  and the fourth position sensor  516  as indicated by the third position reading  522 , the fourth position reading  524 , or a combination thereof. 
     As yet a further example, the stable condition  526  can be based the first position reading  518  working in conjunction with the second position reading  520  as well as the third position reading  522  working in conjunction with the fourth position reading  524 . As a specific example, the stable condition  526  can be negated or lost when both optical beams are broken at different times between the first position sensor  510  and the second position sensor  512  as well as between the third position sensor  514  and the fourth position sensor  516 . 
     Also for example, the first position sensor  510 , the second position sensor  512 , the third position sensor  514 , the fourth position sensor  516 , or a combination thereof can also provide a range sensing function. In this example, the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof can provide distance information from the target object  120 , the walls  316  of  FIG. 3 , the indents  338  of  FIG. 8 , or a combination thereof. The range sensing function can allow the robotic system  100 , the controller  112  of  FIG. 1 , the gripper  122 , or a combination thereof to control the distance for the actuation of the first grasping blade  310  of  FIG. 3 , the second grasping blade  312  of  FIG. 3 , the third grasping blade  314  of  FIG. 3 , the fourth grasping blade  420  of  FIG. 4 , or a combination thereof to secure the target object  120 . 
     As a further example, the first actuator  328  of  FIG. 3  can optionally adjust the location of the first position sensor  510  within the first slot  502  to achieve the predetermined distance between the first blade bottom  320  and the object top  318 . As a specific example, the first actuator  328  can adjust the first position sensor  510  up or down within the first slot  502  to accommodate different dimensions of the object top  318  relative to the indents  338  as well as the first blade bottom  320 . 
     Similarly, the third actuator  334  can optionally adjust the location of the third position sensor  514  within the third slot  506  to achieve the predetermined distance between the first blade bottom  320  and the object top  318 . As a specific example, the third actuator  334  can adjust the third position sensor  514  up or down within the third slot  506  to accommodate different dimensions of the object top  318  relative to the indents  338  as well as the first blade bottom  320 . 
     Continuing with the further example, the second actuator  332  of  FIG. 3  can optionally adjust the location of the second position sensor  512  within the second slot  504  to achieve the predetermined distance between the second blade bottom  322  and the object top  318 . As a specific example, the second actuator  332  can adjust the second position sensor  512  up or down within the second slot  504  to accommodate different dimensions of the object top  318  relative to the indents  338  as well as the second blade bottom  322 . 
     Similarly, the fourth actuator  336  can optionally adjust the location of the fourth position sensor  516  within the fourth slot  508  to achieve the predetermined distance between the second blade bottom  322  and the object top  318 . As a specific example, the fourth actuator  336  can adjust the fourth position sensor  516  up or down within the fourth slot  508  to accommodate different dimensions of the object top  318  relative to the indents  338  as well as the second blade bottom  322 . 
     For illustrative purposes, the gripper  122  is described with a configuration with the first position sensor  510  and the third position sensor  514  attached to the first grasping blade  310  while the second position sensor  512  and the fourth position sensor  516  are attached to the second grasping blade  312 , although it is understood that the gripper  122  can be configured differently. For example, the gripper  122  can be configured with one of the aforementioned position sensors to be attached to the first grasping blade  310  and the second grasping blade  312  at the central region thereof as opposed to proximate to the edges. Also for example, the gripper  122  can be configured with the third grasping blade  314  of  FIG. 3  and the fourth grasping blade  420  to also have one or more of the aforementioned position sensors attached thereto and not just the first grasping blade  310  and the second grasping blade  312 . 
     It has been discovered that the gripper  122 , the robotic unit  110  of  FIG. 1 , the controller  112  of  FIG. 1 , the robotic system  100  of  FIG. 1 , or a combination thereof can provide improved accuracy for secure grasping of the target object  120  with minimal space requirements. The first grasping blade  310  and the second grasping blade  312  include slots for the first position sensor  510  and the third position sensor  514 , and the second position sensor  512  and the fourth position sensor  516 , respectively. The use of the slots eliminates the need for separate physical space for the position sensors beyond what is already required and used for the first grasping blade  310  and the second grasping blade  312 . The first position sensor  510  and the third position sensor  514  working in conjunction with the second position sensor  512  and the fourth position sensor  516 , respectively, can ensure that the grasping blades and the protrusions  430  are located in the correct locations before the gripper  122  closes or chucks. The first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof from the first position sensor  510 , the second position sensor  512 , the third position sensor  514 , and the fourth position sensor  516 , relatively, can be used to determine the stable condition  526  for the gripper  122  to secure the target object  120 . 
     Referring now to  FIG. 6 , therein is shown a detailed view of a portion of the gripper  122  of  FIG. 5  positioning with the target object  120 . In this example, the detailed view depicts the second grasping blade  312  and the fourth grasping blade  420 . The second grasping blade  312  is shown with the second slot  504  and the fourth slot  508 . 
     In this example, the second slot  504  and the fourth slot  508  are proximate to the opposite vertical sides of the second grasping blade  312 . The fourth slot  508  is shown extending vertically allowing for the adjustment of the height or location of the fourth position sensor  516 , which can be performed manually or by the fourth actuator  336 . The second slot  504  is also shown extending vertically allowing for the adjustment of the height or location of the second position sensor  512 , which can be performed manually or by the second actuator  332  of  FIG. 4 . 
       FIG. 6  depicts the one of the protrusions  430  extending from the second grasping blade  312 . In this example, the protrusions  430  do not block the fourth slot  508  or other slots. Also, the protrusions  430  do not impede the functions of the fourth position sensor  516  or the other position sensors. As a specific example, the protrusions  430  are below the locations of the fourth position sensor  516  as well as the other position sensors. 
     In this example, the fourth position sensor  516  and the second position sensor  512  are positioned at about the object top  318 . At this position of the gripper  122  relative to the target object  120 , the protrusions  430  are below the object top  318  allowing the gripper  122  to secure the target object  120  with the protrusions  430  contacting the walls  316 . 
       FIG. 6  also depicts one of the walls  316  including an orientation feature  602 . The orientation feature  602  is a structural characteristic or configuration of the target object  120  indicating the placement or rotation along the horizontal plane. While the first position sensor  510  of  FIG. 5 , the second position sensor  512 , the third position sensor  514  of  FIG. 5 , the fourth position sensor  516 , or a combination thereof aides with the gripper  122 , the robotic unit  110  of  FIG. 1 , the controller  112  of  FIG. 1 , the robotic system  100  of  FIG. 2 , or a combination thereof to determine the stable condition  526  of  FIG. 5  based on the vertical position, the orientation feature  602  allows the gripper  122 , the robotic unit  110 , the controller  112 , the robotic system  100 , or a combination thereof to determine a valid orientation  604  along the horizontal plane. The valid orientation  604  is depicted in  FIG. 6  as a rotation orientation around a line parallel to the z-axis. 
     The valid orientation  604  allows the determination that the target object  120  is in the correct horizontal placement, horizontal rotation, or a combination thereof to ensure the gripper  122  can securely and appropriately grasp the target object  120 . The valid orientation  604  can be utilized by the gripper  122 , the robotic unit  110 , the controller  112 , the robotic system  100 , or a combination thereof in the determination of the stable condition  526 . The orientation feature  602  will be further described later. 
     Referring now to  FIG. 7 , therein is shown a perspective view of the gripper  122  orienting to the target object  120 . The example shown in  FIG. 7  can represent the gripper  122  of  FIG. 5  and of the target object  120  of  FIG. 5  but viewed at a different angle for the perspective view. 
     The view of this example depicts the gripper  122  above the target object  120  before being secured and while checking an orientation, the horizontal positioning, or horizontal rotation of the gripper  122  relative to the target object  120  or the target object  120  relative to the gripper  122 . In this example, an orientation sensor  702  is shown at a side of the gripper  122  proximate to the first grasping blade  310 . 
     The orientation sensor  702  generates an orientation reading  704  with respect to the item being checked. The orientation reading  704  provides information about the horizontal positioning or horizontal rotation for the item being checked. In this example, the gripper  122 , the robotic unit  110  of  FIG. 1 , the controller  112  of  FIG. 1 , the robotic system  100  of  FIG. 2 , or a combination thereof can utilize the orientation reading  704  to determine whether the target object  120  is in the valid orientation  604  of  FIG. 6 . 
     Continuing with the orientation sensor  702  in this example, the orientation sensor  702  can be a device extending from the horizontal portion of the first grasping blade  310 . The orientation sensor  702  can be an optical sensor, a mechanical sensor, an electrical sensor, an image sensor, or a combination thereof. In this example, the orientation sensor  702  can include an extension  706 , a support  708 , and a detector  710 . 
     The extension  706  provides an attachment and a distance displacement from the horizontal portion of the first grasping blade  310 . The extension  706  can provide mechanical function, electrical function, optical function, or a combination thereof. For example, the orientation sensor  702  can function as a mechanical sensor and the extension  706  can convey mechanical information, such as pressure information, as detected or measured by the detector  710  to generate the orientation reading  704 . Also for example, the orientation sensor  702  can function as an optical sensor and the extension  706  can convey optical information as detected or measured by the detector  710  to generate the orientation reading  704 . Further for example, the orientation sensor  702  can function as an electrical sensor and the extension  706  can convey electrical information as detected or measured by the detector  710  to generate the orientation reading  704 . Yet further for example, the extension  706  can merely provide mechanical and structural support for the detector  710  and not convey information for the generation of the orientation reading  704 . 
     The support  708  provides the transition from the extension  706  to the detector  710 . Also, the support  708  is coupled to the extension  706  and the detector  710 . The support  708  can provide mechanical function, electrical function, optical function, or a combination thereof. For example, the orientation sensor  702  can function as a mechanical sensor and the support  708  can convey mechanical, such as pressure information, as detected or measured by the detector  710  to generate the orientation reading  704 . 
     Also for example, the orientation sensor  702  can function as an optical sensor and the support  708 , the extension  706 , or a combination thereof can convey optical information as detected or measured by the detector  710  to generate the orientation reading  704 . Further for example, the orientation sensor  702  can function as an electrical sensor and the support  708  can convey electrical information as detected or measured by the detector  710  to generate the orientation reading  704 . Yet further for example, the support  708  can merely provide mechanical and structural support for the detector  710  and not convey information for the generation of the orientation reading  704 . 
     The detector  710  provides information to generate or generates the orientation reading  704 . The detector  710  can measure or detect the orientation feature  602  from the target object  120  to be grasped and moved by the gripper  122 . The detector  710  can provide mechanical function, electrical function, optical function, or a combination thereof. 
     For example, the orientation sensor  702  can function as a mechanical sensor and the detector  710  can detect or measure mechanical displacement or pressure change, or can convert to electrical information from detected or measured mechanical displacement or pressure change. Also for example, the orientation sensor  702  can function as an optical sensor and the detector  710  can detect or measure optical change or reflection. Further for example, the orientation sensor  702  can function as an electrical sensor and the detector  710  can convert detected or measured electrical characteristic or change based on the orientation feature  602 . 
     For illustrative purposes, the gripper  122  is described with the orientation sensor  702  providing detection for generation or generation of the orientation reading  704  based on mechanical function, optical function, electrical function, or a combination thereof, although it is understood that the gripper  122  can be configured differently for the orientation sensor  702  to provide information to generate or to generate the orientation reading  704 . For example, the orientation sensor  702  can function as an image capture device allowing for the gripper  122 , the robotic unit  110 , the controller  112 , the robotic system  100 , or a combination thereof to recognize the image and determine a match or mismatch based on the orientation feature  602 . Also for example, the orientation sensor  702  can function as an image capture device to allow the gripper  122 , the robotic unit  110 , the controller  112 , the robotic system  100 , or a combination thereof to determine if a location adjustment is required for the gripper  122 , the target object  120 , or a combination thereof based on the location of the orientation feature  602  relative to the orientation sensor  702 . 
     As an example, the vertical dimension of the extension  706  can be sized for the expected dimension to the target object  120  to be grasped by the gripper  122 . Also for example, the horizontal dimension of the support  708  can be sized for the expected dimension relative to the orientation feature  602  and the target object  120  to be grasped by the gripper  122 . Further for example, the vertical spacing of the detector  710  relative to the extension  706 , the support  708 , or a combination thereof can be sized for the expected dimension relative to the orientation feature  602  and the target object  120  to be grasped by the gripper  122 . 
     In this example, the target object  120  is being checked for the orientation feature  602 . The orientation feature  602  is shown in each of the walls  316  at the opposite sides of the target object  120 . As a specific example, the orientation feature  602  is shown as a recess into the walls  316  from the object top  318 . The gripper  122 , the robotic unit  110 , the controller  112  of  FIG. 1 , the robotic system  100 , or a combination thereof can check on or determine the valid orientation  604  based on the gripper  122  being lowered to the range where the detector  710  can function to detect, measure, or capture the orientation feature  602 . 
     The valid orientation  604  can be determined in a number of ways. For example, the detector  710 , functioning as a mechanical device, can generate the orientation reading  704  based on the how far the gripper  122  would need to be lowered for the detector  710  to detect a mechanical change or a pressure change. The lowered displacement of the gripper  122  can be compared with the expected dimensions of the depth of the orientation feature  602 . Also for example, the detector  710 , functioning as an optical device, can detect whether the depth of the recess is detected compared to the location or vertical position of the gripper  122 , the orientation sensor  702 , the detector  710 , or a combination thereof. Further for example, the detector  710  can function as an electrical sensor or an image sensor can provide the orientation reading  704  to assist in determining the valid orientation  604  as previously described. 
     Returning to the overall view shown in  FIG. 7 , the view of this example depicts the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , and the fourth grasping blade  420 . The first grasping blade  310  and the second grasping blade  312  are shown with the protrusions  430 . One of the walls  316  facing the second grasping blade  312  is shown with the indents  338  to allow a firm, robust, and secure grasp of the target object  120 . 
     For illustrative purposes, the gripper  122  is shown with the orientation sensor  702  closest to the first grasping blade  310 , although it is understood that the gripper  122  can be configured differently. For example, the gripper  122  can be configured with the orientation sensor  702  proximate to the second grasping blade  312 . Also for example, the gripper  122  can be configured with the orientation sensor  702  proximate to the second grasping blade  312  in addition to the one proximate the first grasping blade  310 . 
     It has been discovered that the gripper  122 , the robotic unit  110  of  FIG. 1 , the controller  112  of  FIG. 1 , the robotic system  100  of  FIG. 1 , or a combination thereof can provide improved accuracy for secure grasping of the target object  120  with minimal space requirements. The gripper  122  can include the orientation sensor  702  to obtain the orientation reading  704  regarding the target object  120 . The orientation reading  704  allows for the determination of the valid orientation  604  of the target object  120  relative to the gripper  122  before the gripper  122  closes or chucks. The orientation sensor  702  is within the boundaries of the gripper  122  thereby eliminating additional and separate physical space beyond the gripper  122 . Further, the orientation feature  602  of the target object  120  also resides within the physical dimensions of the target object  120  thereby eliminating the need for additional and separate space for the target object  120  and also for the orientation sensor  702  to function relative to the target object  120 . 
     It has also been discovered that the gripper  122 , the robotic unit  110 , the controller  112 , the robotic system  100 , or a combination thereof can provide improved robustness for secure grasping of the target object  120  with minimal space requirements. The protrusions  430  shown in the second grasping blade  312 , as an example, are located to align with the indents  338  along the walls  316  at the location where the second grasping blade  312  will contact when the gripper  122  closes or chucks. The fit of the protrusions  430  within the indents  338  prevents slippage or drops of the target object  120  by the gripper  122 . The protrusions  430  are facing inwards with respect to the gripper  122  and require no additional physical space outside the horizontal space beyond the gripper  122 . 
     Referring now to  FIG. 8 , therein is shown a detailed view of a portion of the gripper  122  of  FIG. 7  orienting with the target object  120 . In this example shown in  FIG. 8 , the first grasping blade  310  is shown with the first slot  502  and the third slot  506 . The first position sensor  510  and the third position sensor  514  are shown within the first slot  502  and the third slot  506 , respectively. 
     This example also depicts the orientation sensor  702  located at the side of the gripper  122  proximate to the first grasping blade  310 . The orientation sensor  702  is shown with the extension  706 , the support  708 , and the detector  710 . This example shows the detector  710  over the orientation feature  602  in one of the walls and providing the orientation reading  704  that would contribute to the determination of the valid orientation  604 , the stable condition  526 , or a combination thereof. 
     Further in this example,  FIG. 8  depicts the first position sensor  510  and the third position sensor  514  about the level of the object top  318 . For this example, the first position sensor  510  can generate the first position reading  518  and the third position sensor  514  can generate the third position reading  522  that would contribute to the determination of the valid orientation  604 , the stable condition  526 , or a combination thereof. 
     The checking or determination of the valid orientation  604  can be before, after, or concurrently with the vertical position verification. As an example, the first position reading  518 , the second position reading  520  of  FIG. 5 , the third position reading  522 , the fourth position reading  524  of  FIG. 5 , or a combination thereof can be utilized to perform the vertical position verification by the gripper  122 , the robotic unit  110 , the controller  112  of  FIG. 1 , the robotic system  100 , or a combination thereof. 
     The term concurrent refers to multiple operations in progress before one is completed. The term concurrent does not require multiple operations to be occurring simultaneously at any instant of time. 
     It has been discovered that the gripper  122 , the robotic unit  110  of  FIG. 1 , the controller  112  of  FIG. 1 , the robotic system  100  of  FIG. 1 , or a combination thereof can provide improved accuracy for secure grasping of the target object  120  with minimal space requirements. The checks for both the valid orientation  604 , as a horizontal verification, and from the stable condition  526  based on the comparison of the first position reading  518 , the second position reading  520  of  FIG. 5 , the third position reading  522 , the fourth position reading  524 , or a combination thereof relative to the object top provides a three dimensional verification of the readiness for the gripper  122  to grasp or chuck the target object  120 . These checks are performed without requiring additional or separate physical space that is already required for the gripper  122 , the target object  120 , or a combination thereof. 
     Referring now to  FIG. 9 , there in shown a bottom view of the gripper  122 . The gripper  122  can represent the gripper  122  of  FIG. 7 . The example shown in  FIG. 9  depicts the first grasping blade  310  connected with the displacement rod  404 . The second grasping blade  312  is connected with the blade actuator  402  at the end opposite the end connected to the displacement rod  404 . 
     In this example, the displacement rod  404  is connected to the first transfer bracket  406  of  FIG. 4  and the blade actuator  402  is connected to the second transfer bracket  408  of  FIG. 4 . The first transfer bracket  406  connects to the first grasping blade  310  at the horizontal portion thereof. Similarly as described earlier, the second transfer bracket  408  connects to the second grasping blade  312  at the horizontal portion thereof. 
     The first wheel rod  422  connects the first grasping blade  310  also at the horizontal portion but at a side opposite where the first transfer bracket  406  connects. The other end of the first wheel rod  422  connects to the actuation wheel  418 . 
     A second wheel rod  902  connects the second grasping blade  312  to the horizontal portion thereof but at a side opposite where the second transfer bracket  408  connects. The other end of the second wheel rod  902  connects to the actuation wheel  418 . 
     The second wheel rod  902  has a similar function to the first wheel rod  422 . The linear displacement by the blade actuator  402  moves the first grasping blade  310  and the second grasping blade  312 . This in turn rotates the actuation wheel  418  based on the movement or displacement of the first wheel rod  422  and the second wheel rod  902 . The rotation of the actuation wheel  418  displaces or moves a third wheel rod  904  and a fourth wheel rod  906 . The third wheel rod  904  and the fourth wheel rod  906  have similar functions to the first wheel rod  422 , the second wheel rod  902 , or a combination thereof. 
     The other end of the third wheel rod  904  connects to the third grasping blade  314 . As the actuation wheel  418  moves or displaces the third wheel rod  904 , the third grasping blade  314  is also moved or displaced. The third grasping blade  314  is moved or displaced based on the displacement from the blade actuator  402 . 
     The other end of the fourth wheel rod  906  connects to the fourth grasping blade  420 . As the actuation wheel  418  moves or displaces the fourth wheel rod  906 , the fourth grasping blade  420  is also moved or displaced. The fourth grasping blade  420  is moved or displaced based on the displacement from the blade actuator  402 . 
     In this example and view, the protrusions  430  are shown from the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , and the fourth grasping blade  420 . The protrusions  430  can include a first protrusion  908  and a second protrusion  912  attached to or extending from the first grasping blade  310 . The protrusions  430  can a third protrusion  910  and a fourth protrusion  914  attached to or extending from the second grasping blade  312 . 
     Continuing with this example, the protrusions  430  can include a fifth protrusion  916  and a sixth protrusion  918  attached to or extending from the third grasping blade  314 . The protrusions  430  can also include a seventh protrusion  920  and an eighth protrusion  922  attached to or extending from the fourth grasping blade  420 . 
     Also shown in this example and view, the orientation sensor  702  is shown extending from the horizontal portion of the first grasping blade  310 . This view depicts the extension  706 , the support  708 , and the detector  710 . 
     Referring now to  FIG. 10 , therein is shown a bottom perspective view of the gripper  122  of  FIG. 9 . This example in this view provides a depiction of the vertical elevation relationship of the various portions of the gripper  122 . 
     As described earlier, this view also depicts the blade actuator  402 , the displacement rod  404 , the first transfer bracket  406 , and the second transfer bracket  408 . This view also depicts the first transfer bracket  406  connecting to the horizontal portion of the first grasping blade  310 . Similarly, the second transfer bracket  408  is shown connecting to the horizontal portion of the second grasping blade  312 . 
     The actuation wheel  418  connects the first wheel rod  422 , the second wheel rod  902 , the third wheel rod  904 , and the fourth wheel rod  906  with the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , and the fourth grasping blade  420 , respectively. 
     The first grasping blade  310  is shown with the first slot  502  and the third slot  506 . The first position sensor  510  and the third position sensor  514  within the first slot  502  and the third slot  506 , respectively. The first actuator  328  and the third actuator  334  are also shown attached to the first grasping blade  310 . 
     The second grasping blade  312  is shown with the second slot  504  and the fourth slot  508 . The second position sensor  512  and the fourth position sensor  516  within the second slot  504  and the fourth slot  508 , respectively. The second actuator  332  and the fourth actuator  336  are also shown attached to the second grasping blade  312 . 
     The orientation sensor  702  is shown extending from a movement slot in the horizontal portion of the first grasping blade  310 . The configuration of the movement slot allows for the movement for the first grasping blade  310  towards and away from the actuation wheel  418 . The orientation sensor  702  includes the extension  706  through the movement slot. The view also depicts the support  708  and the detector  710 . 
     It has been discovered that the gripper  122 , the robotic unit  110  of  FIG. 1 , the controller  112  of  FIG. 1 , the robotic system  100  of  FIG. 1 , or a combination thereof can provide a multi-surface, multi-angled, flexible gripping mechanism with minimum space requirement. The gripper  122  include the blade actuator  402  cause a displacement of the first grasping blade  310 , the second grasping blade  312 , or a combination thereof. The first grasping blade  310  and the second grasping blade  312  are at opposing ends of the gripper  122 . The displacement from the blade actuator  402  also moves or articulates the third grasping blade  314 , the fourth grasping blade  420 , or a combination thereof by transferring the movement or articulation with the actuation wheel  418  along with the first wheel rod  422 , the second wheel rod  902 , the third wheel rod  904 , and the fourth wheel rod  906  thereby eliminating the physical space requirement for a separate actuator and corresponding attendant mechanism for the third grasping blade  314 , the fourth grasping blade  420 , or a combination thereof. 
     Referring now to  FIG. 11 , therein is shown an exploded bottom perspective view of the gripper  122  of  FIG. 10 . This exploded view provides an additional view of the portions of the gripper  122 . This exploded view also depicts a socket  1102  and a component  1104 . 
     The socket  1102  allows for physical connection, mechanical connection, optical connection, electrical connection, or a combination thereof from where the socket  1102  is attached or connected to and the item, such as the component  1104 , placed or mounted into the socket  1102 . The socket  1102  can include a number of types of connectors. For example, the socket  1102  can be an interface for an electronic device, a mechanical connector, a mechanical and electrical connector, an optical device, or a combination thereof. 
     The component  1104  is an item or device that connects to the socket  1102  for physical connection, mechanical connection, optical connection, electrical connection, or a combination thereof. The component  1104  can include a number of types and functions. For example, the component  1104  can include electronic devices that provide functions as the control unit  202  of  FIG. 2 , the storage unit  206  of  FIG. 2 , the communication unit  212  of  FIG. 2 , or a combination thereof. Also for example, the component  1104  can also provide functions as the sensor unit  230  of  FIG. 2 . 
     In this example, the component  1104  can be mated, inserted, or connected with or into the socket  1102 . The component  1104  can interface with, communicate with, or control the other portions of the gripper  122 , such as the orientation sensor  702 , the first position sensor  510 , the second position sensor  512 , the third position sensor  514 , the fourth position sensor  516 , the first actuator  328 , the second actuator  332 , the third actuator  334 , and the fourth actuator  336 . The component  1104  can also interface with, communicate with, or control other portions of the robotic unit  110  of  FIG. 1 , the robotic system  100  of  FIG. 1 , or a combination thereof. 
     As in  FIG. 10 , this view depicts the covers  302 , the frame  308 , the blade actuator  402 , the first transfer bracket  406 , and the second transfer bracket  408 . This view also depicts the first transfer bracket  406 , the second transfer bracket  408 , the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , and the fourth grasping blade  420 . This view further depicts the actuation wheel  418 , the first wheel rod  422 , the second wheel rod  902 , the third wheel rod  904 , and the fourth wheel rod  906 . 
     Continuing to list the portions, this view depicts the first slot  502 , the second slot  504 , the third slot  506 , and the fourth slot  508 . The view also depicts the first position sensor  510 , the second position sensor  512 , the third position sensor  514 , and the fourth position sensor  516 . The view further depicts the first actuator  328 , the second actuator  332 , the third actuator  334 , and the fourth actuator  336 . 
     Referring now to  FIG. 12 , therein is shown a perspective view of the gripper  122  with the actuation interface  222 . The example shown in this view depicts the gripper  122  that can represent the gripper  122  in the previous figures. The view depicts the covers  302 , the mounting plate  304 , the frame  308 , the first grasping blade  310 , and the second grasping blade  312 . The view can also depict the third grasping blade  314 , although the view can also depict the fourth grasping blade  420  of  FIG. 11  depending on the rotation or orientation of this view relative to the other figures. 
     For this sake of brevity and clarity, the description will proceed as the third grasping blade  314  is depicted. Further, the actuation interface  222  is described with respect to the first grasping blade  310  and the first actuator  328 . 
     For example, the first actuator  328  can be described as a pneumatic actuator. The actuation interface  222  can include actuation lines  1202 , which are shown coming out a hole in the frame  308 . The actuation lines  1202  provide controls to move the first actuator  328 , in this example, along the vertical axis or direction. In this view, the actuation lines  1202  are connected to the first actuator  328 . 
     In the example where the first actuator  328  is a pneumatic actuator, the actuation lines  1202  can provide some form of gas or fluid to move the first actuator  328  along the vertical axis or direction. Some of the actuation lines  1202  can cause the first actuator  328  to engage in an upward or downward motion. 
     As another example, the first actuator  328  can be described as an electrical actuator. In this example, the actuation lines  1202  can provide electrical signals to cause motion of the first actuator  328 . 
     Similar actuation lines  1202  can be connected to the second actuator  332  of  FIG. 10 , the third actuator  334  of  FIG. 10 , the fourth actuator  336  of  FIG. 10 , or a combination thereof. The actuation lines  1202  can provide the same controls at the same time or can operate independently to the first actuator  328 , the second actuator  332 , the third actuator  334 , and the fourth actuator  336 . 
     Referring now to  FIG. 13 , therein is a perspective view of a gripper  1322  in a further embodiment. The gripper  1322  can also be utilized with the robotic unit  110  of  FIG. 1 , the robotic system  100  of  FIG. 1 , or a combination thereof as the gripper  122  of  FIG. 1 . For the sake of explanation and illustrative purposes, the gripper  1322  is described herein with the elements of the gripper  122 . The view of  FIG. 13  is shown without the covers  302  of  FIG. 3 . The gripper  1322  includes the mounting plate  304  elevated above the horizontal plane of where the covers  302  would have been for the configuration of the gripper  122  that includes the mounting plate  304  of  FIG. 3  in a position that is closer to being planar to the covers  302 . In other words, the position of the mounting plate  304  can be vertically off-set relative to the position of the mounting plate  304  illustrated in  FIG. 3 . 
     Similar to the gripper  122 , the gripper  1322  can include the frame  308 , the blade actuator  402 , the displacement rod  404 , the first transfer bracket  406 , and the second transfer bracket  408 . This view also depicts the first transfer bracket  406 , the second transfer bracket  408 , the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314  of  FIG. 3 , and the fourth grasping blade  420 . 
     Continuing to list the portions of the gripper  1322 , this view depicts the first slot  502 , the third slot  506 , and the fourth slot  508 . The view further depicts the first actuator  328 , the second actuator  332 , the third actuator  334 , and the fourth actuator  336 . 
     Referring now to  FIG. 14 , therein is a control flow for the robotic system  100 . The control flow can include a pre-approach module  1402 , an origin approach module  1404 , a chuck module  1406 , an origin depart module  1408 , a move module  1410 , a destination approach module  1412 , an unchuck module  1414 , a destination depart module  1416 , and an error handler module  1418 . 
     The control flow can be implemented by the software  210  of  FIG. 2  and executed by the control unit  202  of  FIG. 2 , the controller  112  of  FIG. 2 , or a combination thereof. Commands can be generated by the control unit  202 , the controller  112 , the component  1104  of  FIG. 11 , the robotic unit  110  of  FIG. 1 , the robotic system  100 , or a combination thereof. 
     The software  210  can be stored in the storage unit  206  of  FIG. 2 . The software  210  can be also executed by the component  1104 , or distributed between the component  1104  and the control unit  202 . The control flow can include transmitting commands or to invoke actions utilizing the communication unit  212  of  FIG. 2 , the communication interface  214  of  FIG. 2 , the control interface  204  of  FIG. 2 , the storage interface  208  of  FIG. 2 , the actuation interface  222  of  FIG. 2 , the sensor interface  224  of  FIG. 2 , or a combination thereof as needed. The control flow can be executed by the gripper  122 , the robotic unit  110  of  FIG. 1 , the controller  112 , the robotic system  100 , or a combination thereof. 
     The pre-approach module  1402 , the origin approach module  1404 , the chuck module  1406 , the origin depart module  1408 , the move module  1410 , the destination approach module  1412 , the unchuck module  1414 , and the destination depart module  1416  can be coupled using wired or wireless connections, by including an output of one module as an input of the other, by including operations of one module influence operation of the other module, or a combination thereof. The portions of the control flow can be directly coupled without intervening structures or objects other than the connector there-between, or indirectly coupled to one another. 
     The pre-approach module  1402  can perform the initial configuration settings and checks. For example, the pre-approach module  1402  can include the selection of the first grasping blade  310  of  FIG. 10 , the second grasping blade  312  of  FIG. 10 , the third grasping blade  314  of  FIG. 10 , the fourth grasping blade  420  of  FIG. 10 , or a combination thereof can be selected for the target object  120  of  FIG. 3  based on the protrusions  430  of  FIG. 4  matching the locations of the indents  338  of  FIG. 3 . 
     Also, the pre-approach module  1402  can adjust the placement, where the adjustment can be made, of the first position sensor  510  of  FIG. 10 , the second position sensor  512  of  FIG. 10 , the third position sensor  514  of  FIG. 10 , the fourth position sensor  516  of  FIG. 10 , or a combination thereof to ensure that the protrusions  430  are located facing the indents  338  for firm and secure grasp of the target object  120 . For example, the pre-approach module  1402  can adjust placement or the location of the position sensors to ensure that the protrusions  430  can engage with the indents  338  when the gripper  122  closes or chucks. 
     In the example where the position sensors can be adjusted automatically, the pre-approach module  1402  can optionally adjust the configuration of the first actuator  328  of  FIG. 10 , the second actuator  332  of  FIG. 10 , the third actuator  334  of  FIG. 10 , the fourth actuator  336  of  FIG. 10 , or a combination thereof to position or place the first position sensor  510 , the second position sensor  512 , the third position sensor  514 , the fourth position sensor  516 , or a combination thereof to ensure that the protrusions  430  are located facing the indents  338  for firm and secure grasp of the target object  120 . 
     Further, the pre-approach module  1402  can allow for a pre-selection or adjust the ratio of dimensions between the first wheel rod  422  of  FIG. 10 , the second wheel rod  902  of  FIG. 10 , the third wheel rod  904  of  FIG. 10 , the fourth wheel rod  906  of  FIG. 10 , or a combination thereof for the dimensions of the target object  120 . Yet further, the pre-approach module  1402  can allow for the pre-selection of orientation sensor  702  or adjust the position of the orientation sensor  702  for the functions of detecting the orientation feature  602  of  FIG. 7  including the pre-selection or adjustment of the extension  706  of  FIG. 7 , the support  708  of  FIG. 7 , the detector  710  of  FIG. 7 , or a combination thereof. 
     Yet further, the pre-approach module  1402  can adjust the first blade limiter  410  of  FIG. 4 , the second blade limiter  414  of  FIG. 4 , or a combination thereof to limit the dimension of the open position of the gripper  122 . The pre-approach module  1402  can also perform checks on the controls for the blade actuator  402  of  FIG. 4 , the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof. For example, if the aforementioned actuators are pneumatic actuators, the pre-approach module  1402  can check gas or fluid pressure to see if the main pressure is insufficient for operation. The pre-approach module  1402  can also check the function and connection of the component  1104  of  FIG. 11  and the socket  1102  of  FIG. 11 . 
     The pre-approach module  1402  can further check if the target object  120  is in place before continuing the control flow. For example, the pre-approach module  1402  can check for the target object  120  with cameras (not shown) external to the gripper  122 . The cameras can be included with the robotic unit  110 , the transfer unit  104  of  FIG. 1 , elsewhere in the robotic system  100 , or a combination thereof. 
     Once the configuration is set and the checks pass, the control flow can continue to the origin approach module  1404 . The origin approach module  1404  performs one or more checks to determine whether the target object  120  can be securely grasped by the gripper  122 . 
     For the origin approach module  1404 , as the gripper  122  approaches the target object  120 , the orientation sensor  702  of  FIG. 8  generates the orientation reading  704  of  FIG. 7  based on the orientation feature  602  of  FIG. 8  along at least one of the walls  316  of  FIG. 8 . When the valid orientation  604  of  FIG. 6  cannot be determined or reached based on the orientation reading  704 , movement or position adjustment of the gripper  122  can continue until the orientation reading  704  can lead to the determination of the valid orientation  604 . 
     After a predetermined number of tries or after a limit has been reached, the origin approach module  1404 , the gripper  122 , the robotic unit  110 , the controller  112 , the robotic system  100 , or a combination thereof can signal an error, in which case the control flow can progress to the error handler module  1418 . 
     When the valid orientation  604  is determined, the control flow can progress to the chuck module  1406 . The chuck module  1406  checks the level of the gripper  122  before grasping at least one of the target object  120 . The chuck module  1406  also can secure the target object  120  based on the successful checks. 
     The chuck module  1406  continues to check if the gripper  122  and the target object  120  are in correct position relative to each other for secure and robust grasping. The chuck module  1406  can send a chuck command  1420  to invoke the gripper  122  to securely grasp the target object  120  based on the stable condition  526  of  FIG. 5 . 
     The chuck module  1406  continues the check the vertical alignment or the vertical readiness between the gripper  122  and the target object  120  for the determination of the stable condition  526 . As an example, the chuck module  1406  can operate the first position sensor  510 , the second position sensor  512 , the third position sensor  514 , the fourth position sensor  516 , or a combination thereof to generate the first position reading  518  of  FIG. 5 , the second position reading  520  of  FIG. 5 , the third position reading  522  of  FIG. 5 , the fourth position reading  524  of  FIG. 5 , or a combination thereof, respectively. The chuck module  1406  can receive the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof to determine if the gripper  122  has been lowered to a level for the protrusions  430  to face the indents  338 , if any, of the target object  120 , such that closing or chucking the gripper  122  would cause the protrusions  430  to engage within the indents  338 . 
     The chuck module  1406  can determine the gripper  122  is ready to grasp the target object  120  when the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof is at or below the object top  318  of  FIG. 5 . When this condition is met, the chuck module  1406  utilize this condition along with the valid orientation  604  to determine or indicate the stable condition  526  for the gripper  122  to secure the target object  120 . 
     Returning to the chuck command  1420 , the chuck command  1420  invokes the gripper  122  to secure and grasp the target object  120 . The gripper  122  secures the target object  120  along the verticals sides of the walls  316 , along the object top  318  of the walls  316 , or a combination thereof. 
     Continuing with the example, the chuck module  1406  can secure the vertical sides of the walls  316  by operating the blade actuator  402  of  FIG. 4 . The blade actuator  402  can move the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , the fourth grasping blade  420 , or a combination thereof to secure the target object  120 . 
     Further continuing the example, the chuck module  1406  can also secure the object top  318  of the walls  316 . The chuck module  1406  can invoke the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof to press down on the target object  120 . For example, the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof can include functions of a piston pressing down on the target object  120  to further secure the target object  120 . 
     For illustrative purposes, the gripper  122  is described to secure the target object  120  from the sides and the top in a sequential manner, although it is understood that the gripper  122  can be configured and be operated differently. For example, the gripper  122  can respond to the chuck command  1420  to secure the target object  120  by concurrently operating the blade actuator  402  along with the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof. Also for example, the gripper  122  can respond to the chuck command  1420  to secure the target object  120  by operating the blade actuator  402  after securing the target object  120  by operating the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof. 
     When the linear displacement of the blade actuator  402  is held in place and optionally operating the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof to secure the target object  120 , the control flow can progress to the origin depart module  1408 . The origin depart module  1408  is for the movement of the target object  120  secured by the gripper  122 . The movement can be performed by the robotic unit  110  or another part of the robotic system  100 . 
     For example, the origin depart module  1408  can continue to check the status of the blade actuator  402 , the stable condition  526 , or a combination thereof. As a specific example, the origin depart module  1408  can optionally check for slippage of the target object  120  being grasped by the gripper  122  by monitoring the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof. For example, the origin departure module  1408  can determine slippage of the target object  120  as a change or shift in position of the target object  120  based on changes in the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof following securing of the target object  120  by the gripper  112 . 
     Further, the origin depart module  1408  can continue to check whether the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof is pressing on the target object  120 . As a specific example, the origin depart module  1408  can check the pressure from the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof on the target object  120 . Also for example, the origin depart module  1408  can check the status through the actuation interface  222  of  FIG. 2  and, as a specific example, check the pressure of the actuation lines  1202  of  FIG. 12 . 
     When the stable condition  526  is not maintained, the control flow can progress to the error handler module  1418 . When the stable condition  526  is maintained, the control flow can progress to the move module  1410 . The move module  1410  picks up at least one of the target object  120  being grasped and secured by the gripper  122 . The move module  1410  can also locate the gripper  122  to a destination location. 
     Similarly, the move module  1410  can optionally continue to check the status of the blade actuator  402 , the stable condition  526 , or a combination thereof. As a specific example, the move module  1410  can optionally check for slippage of the target object  120  being grasped by the gripper  122  by monitoring the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof. For example, the move module  1410  can determine slippage of the target object  120  as a change or shift in position of the target object  120  based on changes in the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof following securing of the target object  120  by the gripper  112 . 
     Further, the move module  1410  can continue to check whether the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof is pressing on the target object  120 . As a specific example, the move module  1410  can check the pressure from the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof on the target object  120 . Also for example, the move module  1410  can check the status through the actuation interface  222  and, as a specific example, check the pressure of the actuation lines  1202  of  FIG. 12 . 
     When the stable condition  526  is not maintained, the control flow can progress to the error handler module  1418 . When the stable condition  526  is maintained, the control flow can progress to the destination approach module  1412 . The destination approach module  1412  can optionally check to determine whether the target object  120  that is secured by the gripper  122  can be placed at the destination location. The destination approach module  1412  can also generate or execute instructions for beginning release or un-securing of the target object  120 . 
     The destination approach module  1412  can perform the checks in a number of ways. For example, if the target object  120  secured by the gripper  122  is being stacked on another of the target object  120 , then the destination approach module  1412  can locate the stack and the appropriate orientation for stacking the target object  120 . This stacking check can be performed utilizing one or more cameras external to the gripper  122 . As a different example, the destination approach module  1412  can check if the destination location has space for the target object  120  to be placed. 
     Continuing with the destination approach module  1412 , the destination approach module  1412  can be for placing the target object  120  secured by the gripper  122  at the destination location. The destination approach module  1412  can optionally check whether the target object  120  moved to or placed at the destination location is placed at a proper angle, such as flat on a pallet. 
     The destination approach module  1412  can check the angle of the target object  120  in a number of ways. For example, the destination approach module  1412  can check the actuation interface  222  or, as a specific example, check for pressure changes to the actuation lines  1202  to indicate whether the target object  120  is in the proper angle, e.g. flat. Also for example, the destination approach module  1412  can check the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof relative to the object top  318  to determine whether one or more of the position sensors indicates that the target object  120  is no longer in the stable condition  526 . Further for example, the destination approach module  1412  can perform a check of the placement angle of the target object  120  based on information received from cameras external to the gripper  122 . 
     The destination approach module  1412  can also be for generating or executing instructions to initiate unsecuring of the target object  120  being grasped or secured by the gripper  122 . For example, once the angle of the target object  120  at the destination location is determined to be satisfactory, such in the stable condition  526 , the gripper  122  can release the pressure on the target object  120 . As a specific example, the destination approach module  1412  can generate or execute instructions for operating operate the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof to cease pressing on target object  120 . As a more specific example, the destination approach module  1412  can generate or execute instructions for operating or operate the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof to move upwards to stop pressing on the target object  120 . 
     When the stable condition  526  is not maintained or the other checks that were performed were not satisfied, the control flow can progress to the error handler module  1418 . When the stable condition  526  is maintained and the other checks that were performed are satisfied, the control flow can progress to the unchuck module  1414 . As an example, during implementation of the unchuck module  1414 , the robotic system  100  can complete release or unsecure the target object  120  grasped or secured by the gripper  122 . 
     The unchuck module  1414  is for generating or executing an unchuck command  1422  to complete release or unsecuring of the target object  120  by the gripper  122 . The unchuck command  1422  invokes the gripper  122  to continue the release or unsecure function. 
     As an example, the gripper  122  can complete the release and unsecuring function by allowing the blade actuator  402  to cease displacing the first grasping blade  310  of  FIG. 10 , the second grasping blade  312  of  FIG. 10 , the third grasping blade  314  of  FIG. 10 , the fourth grasping blade  420  of  FIG. 10 , or a combination thereof towards the walls  316  of the target object  120 . As a specific example, the blade actuator  402  can release the pressure exerted by the first grasping blade  310 , the second grasping blade  312 , the third grasping blade  314 , the fourth grasping blade  420 , or a combination thereof and move towards the frame  308  of  FIG. 3 , which can be limited by the first blade limiter  410  of  FIG. 4 , the second blade limiter  414  of  FIG. 4 , or a combination thereof. 
     The control flow can progress to the destination depart module  1416 . The destination depart module  1416  is for moving the gripper  122  away from the target object  120 . The destination depart module  1416  can also check the target object  120  as the gripper  122  moves away from the target object  120 . 
     As an example, the destination depart module  1416  can generate or execute instruction to move the gripper  122  away from the target object  120  after releasing and unsecuring. As the destination depart module  1416  lifts the gripper  122 , the gripper  122  checks the relative angle of the target object  120  at the destination location. As a specific example, the destination depart module  1416  can utilize the first position reading  518 , the second position reading  520 , the third position reading  522 , the fourth position reading  524 , or a combination thereof to check if the aforementioned reading indicates what is expected for the angle, such as the same angle as the surface where the target object  120  has been placed, of the target object  120  as the gripper  122  moves away from the target object  120 . 
     When the angle is not as expected as the gripper  122  moves away, the control flow can progress to the error handler module  1418 . When the angle is as expected as the gripper  122  moves away, the control flow can return to the pre-approach module  1402  or the control flow can end. 
     The error handler module  1418  allows for corrective actions within the control flow or to notify other portions of the robotic unit  110 , the controller  112 , the robotic system  100 , or a combination thereof. The function of and flow from the error handler module  1418  can depend on what portion of the control flow led to the error handler module  1418 . 
     When the origin approach module  1404  flows to the error handler module  1418 , other portions of the robotic system  100  can be invoked to correct the orientation of the target object  120 . The control flow can remain with the error handler module  1418  until a reset occurs with the control flow or can return to the pre-approach module  1402  to restart the operations of the control flow. The reset condition would put the control flow into an initial state as in first power on state of the robotic system  100 . Also, the error handler module  1418  can terminate the operation of the control flow if an error cannot be resolved by the robotic system  100 . 
     When the origin depart module  1408  flows to the error handler module  1418 , some corrective actions can be taken by the error handler module  1418 . For example, the error handler module  1418  can increase the force from the blade actuator  402  if slippage is detected. If the increased force is successful to prevent or stop the slippage, the control flow can return to the origin depart module  1408 . Also for example, if the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof is not pressing down on the target object  120  sufficiently, then the error handler module  1418  can increase the pressing force of the appropriate actuator through the actuation interface  222 . If the error handler module  1418  is successful in preventing or stopping the slippage, the control flow can return to the origin depart module  1408 . If the error handler module  1418  cannot successfully implement a corrective action, then the control flow can remain with the error handler module  1418  until the approach reset occurs with the control flow or can return to the pre-approach module  1402 . 
     When the move module  1410  flows to the error handler module  1418 , the error handler module  1418  can attempt to transport the target object  120  to a predesignated location for an emergency or stop moving the target object  120 . The control flow can remain with the error handler module  1418  until the approach reset occurs with the control flow or can return to the pre-approach module  1402 . 
     When the destination approach module  1412  flows to the error handler module  1418 , the error handler module  1418  can attempt corrective actions. For example, the error handler module  1418  can attempt to relocate the target object  120  such that the proper angle can be achieved. Also for example, the error handler module  1418  can also adjust the pressure to the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof as needed. If successful in relocating the target object  120 , then the control flow can return to the destination approach module  1412 . If not successful in relocating the target object  120 , then the control flow can remain with the error handler module  1418  until the approach reset occurs with the control flow or can return to the pre-approach module  1402 . 
     When the destination depart module  1416  flows to the error handler module  1418 , the error handler module  1418  can attempt corrective actions. For example, the error handler module  1418  can attempt to relocate the target object  120  such that the proper angle can be achieved. Also for example, the error handler module  1418  can also generate or execute instructions for operating the gripper  122  to secure the target object  120  to move to a more suitable location. If successful, then the control flow can return to the destination depart module  1416 . If not successful, then the control flow can remain with the error handler module  1418  until the approach reset occurs with the control flow or can return to the pre-approach module  1402 . 
     For illustrative purposes, the control flow is described in  FIG. 14  with the partition of modules and the functions for each of the modules, although it is understood that control flow can operate and be configured differently. For example, generation or execution of instructions for operating the first actuator  328 , the second actuator  332 , the third actuator  334 , the fourth actuator  336 , or a combination thereof can be performed by the origin depart module  1408  instead of the chuck module  1406 . Also for example, the functions of the chuck module  1406  and the origin depart module  1408  can be included into a single module. Further for example, the corrective actions described in the error handler module  1418  can perform in the respective module that flowed into the error handler module  1418 . 
     Referring now to  FIG. 15 , therein is shown a flow chart of a method  1500  of operation of a robotic system  100  including the gripper  122  of  FIG. 1  in an embodiment of the present invention. The method  1500  includes generating an orientation reading for a target object in a block  1502 ; generating a first position reading representing a position of a first grasping blade of the gripper relative to the target object in a block  1504 ; generating a second position reading representing a position of a second grasping blade of the gripper relative to the target object and the second grasping blade located at an opposite side of the target object as the first grasping blade in a block  1506 ; and executing an instruction for securing the target object with the first grasping blade and the second grasping blade based on a valid orientation reading of the orientation reading and based on the first position reading and the second position reading indicating a stable condition in a block  1508 . 
     The resulting method, process, apparatus, device, product, and/or system is cost-effective, highly versatile, accurate, sensitive, and effective, and can be implemented by adapting known components for ready, efficient, and economical manufacturing, application, and utilization. Another important aspect of an embodiment of the present invention is that it valuably supports and services the historical trend of reducing costs, simplifying systems, and increasing performance. 
     These and other valuable aspects of an embodiment of the present invention consequently further the state of the technology to at least the next level. 
     While the invention has been described in conjunction with a specific best mode, it is to be understood that many alternatives, modifications, and variations will be apparent to those skilled in the art in light of the aforegoing description. Accordingly, it is intended to embrace all such alternatives, modifications, and variations that fall within the scope of the included claims. All matters set forth herein or shown in the accompanying drawings are to be interpreted in an illustrative and non-limiting sense.