Guiding robots transporting containers using applied force detection

A mobile robot configured to transport a container, the mobile robot comprising:

• a first sensor;
• a second sensor;
• a motor;
• and
• a controller configured to:
• determine that the container is loaded;
• determine, using at least one of the first sensor or the second sensor, a first change in load distribution, wherein the first change is based at least in part on a force applied to the container;
• determine a first direction of movement associated with the first change;
• cause the motor to propel the mobile robot in the first direction of movement;
• determine that the first change in load distribution is not present based at least in part on removing the force applied to the container;
• determine a first rate of change at which the force is removed;
• and
• cause the mobile robot to stop movement at a rate of braking that corresponds to the first rate of change.

A method comprising:

• determining, by a mobile robot comprising a first sensor, a second sensor, and a motor, that a container is loaded on the mobile robot;
• determining, using at least one of the first sensor or the second sensor, a first change in load distribution, wherein the first change is based at least in part on a force applied to the container;
• determining a first direction of movement associated with the first change;
• causing the motor to propel the mobile robot in the first direction of movement;
• determining that the first change in load distribution is not present based at least in part on removing the force applied to the container;
• determining a first rate of change at which the force is removed;
• and
• causing the mobile robot to stop movement at a rate of braking that corresponds to the first rate of change.