Robotic systems with griping mechanisms, and related systems and methods are disclosed herein. In some embodiments, the robotic system includes a robotic arm and an end-of-arm tool coupled to the robotic arm. The end-of-arm tool can include a housing, a vacuum-gripping component, and a clamping component. The vacuum-gripping component can be operably coupled to a lower surface of the housing to apply a suction force to an upper surface of a target object. The clamping component can include first and second clamping elements. The first clamping element projects at least partially beneath the lower surface of the housing and is movable along a lateral axis to engage a first side surface of the target object. Similarly, the second clamping element projects at least partially beneath the lower surface of the frame and is movable along the lateral axis to engage with a second side surface of the target object.

A method of grasping and/or placing multiple objects by a gripper of a mobile robot. The multi-grasp method includes determining one or more candidate groups of objects to grasp by the suction-based gripper of the mobile robot, each of the one or more candidate groups of objects including a plurality of objects, determining a grasp quality score for each of the one or more candidate groups of objects, and grasping, by the suction-based gripper of the mobile robot, all objects in a candidate group of objects based, at least in part, on the grasp quality score. The multi-place method includes determining an allowed width associated with the conveyor, selecting a multi-place technique based, at least in part, on the allowed width and a dimension of the multiple grasped objects, and controlling the mobile robot to place the multiple grasped objects on the conveyor based on the selected multi-place technique.