A robot configured for pipe handling. The robot may include an articulated arm controllable by a controller and an end effector arranged at an end of the articulated arm. The articulated arm may include two pipe engaging jaws, each jaw having an inner contour configured for engaging a pipe section. At least one of the jaws may be a fixed jaw. The end effector may be configured to restrict radial movement of the pipe section while permitting axial movement. The inner contours of the two jaws may be arranged on different planes in some embodiments. The inner contours may additionally be concave in opposing directions. The articulated arm may be configured to pivot the end effector about a central axis extending between, and parallel to, the planes of the inner contours. In some embodiments, one or both jaws may be actuatable.