Methods and apparatus for pallet handling

Abstract

Method and apparatus for grasping an empty pallet using a mobile robotic device are provided. Sensor data captured by at least one sensor is used to identify an empty pallet. Based on at least one characteristic of the empty pallet and at least one capability of a mobile robotic device, it is determined whether to grasp the empty pallet using an end effector of the mobile robotic device. The empty pallet is grasped using the end effector of the robotic device. In response to determining, based on image capture data corresponding to an initial position in which the empty pallet is placed on a cart coupled to the mobile robotic device, that the initial position is different from a target position, the empty pallet is moved from the initial position to the target position using the end effector.

Dependencies are inferred from the claim text.