Mobile cleaning robot with actuating gripper

A mobile cleaning robot comprising:

• a body;
• a drive system connected to the body and configured to move the body about a floor surface of an environment;
• and
• an arm assembly connected to the body, the arm assembly comprising:
• a frame connected to the body;
• a linkage assembly pivotably connected to the frame;
• a hand pivotably connected to the linkage assembly, the hand including a pair of fingers;
• a linkage actuator connected to the linkage assembly and operable to move
• the linkage assembly and the hand relative to the body between a
• retracted position and an extended position;
• and
• a hand actuator connected to the hand and operable to move the fingers
• between a closed position, an open position, and a stored position.

A mobile cleaning robot comprising:

• a body;
• a drive system connected to the body and configured to move the body about a floor surface of an environment;
• an arm assembly connected to the body, the arm assembly comprising:
• a linkage assembly pivotably connected to the body;
• a hand pivotably connected to the linkage assembly, the hand including a pair of fingers;
• a linkage actuator connected to the linkage assembly and operable to move the linkage assembly and the hand relative to the body between a retracted position and an extended position;
• and
• a hand actuator connected to the hand and operable to move the fingers between a closed position, an open position, and a stored position;
• and
• a controller connected to the body and in communication with the linkage actuator and the hand actuator to control the linkage actuator and the hand actuator.