US Patent 10207868 Variable compliance EOAT for optimization of GCU

Described herein is an inventory management system and methods of operating a robotic arm assembly in which the level of compliance of the robotic arm assembly is altered in order to achieve a high gross cubic utilization. In at least some embodiments, a robotic arm assembly may adopt a low level of compliance when grasping an item. The inventory management system may identify an appropriate storage location for the item and move the item to that storage location. Upon reaching the storage location, the robotic arm assembly may adopt a higher level of compliance. The robotic arm assembly may then push the item against one or more other items in order to insert the item into the determined storage location.