Systems and methods are disclosed for extracting underground objects using a beam pumping unit including a rotating motor and one or more cranks coupled to a walking beam enabling the extraction. According to certain embodiments, the method includes receiving, at a control system, one or more input signals; and providing, based on the input signals, one or more control signals to the rotating motor to enable the rotating motor to directly drive the one or more cranks for extracting the underground objects. The method also includes varying, based on the one or more control signals, a rotating speed of the rotating motor based on one or more conditions of the underground objects; and enabling the extraction in a reciprocated manner based on the varying rotating speed of the rotating motor.