Object placing via a mobile robot including nudging and related technology

A method comprising:

• carrying, via a mobile robot, an object to an intermediate placing state;
• receiving, via a vision sensor of the mobile robot, vision data corresponding to the object in the intermediate placing state;
• determining, based at least partially on the vision data, whether the object is moving;
• nudging, via an end effector of the mobile robot, the object from the intermediate placing state toward a subsequent placing state in response to determining that the object is not moving;
• and
• discontinuing nudging the object in response to determining, based at least partially on additional vision data received via the vision sensor, that the object is moving.

A method comprising:

• staging, via a mobile robot, an object at an intermediate placing state on a chute;
• releasing, via the mobile robot, the object at the intermediate placing state;
• determining, via a computing system of the mobile robot, that the object fails to move from the intermediate placing state after releasing the object;
• nudging, via an end effector of the mobile robot, the object from the intermediate placing state toward a subsequent placing state in response to determining that the object fails to move;
• and
• performing, via the mobile robot, an escalated intervention in response to determining that the object fails to move from the subsequent placing state after nudging the object.

A method comprising:

• carrying, via a mobile robot, an object while a grip of the mobile robot on the object is prehensile;
• staging, via the mobile robot, the object at an intermediate placing state, wherein the grip of the mobile robot on the object transitions from prehensile to nonprehensile after the object engages a support structure;
• and
• nudging, via an end effector of the mobile robot, the object from the intermediate placing state toward a subsequent placing state while the grip of the mobile robot on the object is nonprehensile.