Lifting robots

A robot comprising:

• a rail system;
• a body structure coupled to the rail system, the body structure comprising one or more force sensors operable to detect a force applied to the body structure;
• a first arm coupled to a first side of the body structure;
• a plurality of first arm actuators providing the first arm with multiple degrees of freedom;
• a second arm coupled to a second side of the body structure;
• a plurality of second arm actuators providing the second arm with multiple degrees of freedom;
• and
• a lift actuator operable to move the body structure along the rail system,
• wherein:
• the plurality of first arm actuators and the plurality of second arm actuators are operable to wrap the first arm and the second arm around an object and hold the object against the body structure,
• the lift actuator is operable to move the body structure such that the object is lifted on the rail system,
• the body structure defines a chest of the robot,
• the body structure comprises one or more force sensors operable to detect a force applied to the chest by the first arm and the second arm pressing an object against the chest, and
• each force sensor of the one or more force sensors is a flexible tactile sensor and is operable to detect a force magnitude and a force direction.