Figure 7
The top-down schematic depicts the handover sequence of an E P A L pallet from the O superscript 3 dyn robot onto a Large Storage Pallet (L S P) and onward to a forklift. On the far left, the O superscript 3 dyn robot is shown in plan view with its two parallel arms extended toward the L S P ramp. The white central body of the robot—marked “O superscript 3 dyn”—houses its electronics and control components, while its dual-track modules flank either side, each track assembly featuring support rollers and drive sprockets. Immediately to the right of the robot’s ramp arms is a shaded rectangle labeled “L S P ramp,” indicating the inclined transition surface. This ramp leads up to a larger shaded area outlined with a dashed border and labeled “L S P.” Centered within the L S P zone is a schematic top view of an E P A L pallet, depicted as a square arrangement of four brown boxes atop a wooden deck. The pallet is labeled “E P A L,” denoting the standard European pallet format. Continuing rightward, two parallel blue lines extend from the L S P area to a solid blue square labeled “forklift.” These lines represent the forklift’s lifting forks aligned with the E P A L pallet’s deck openings. The forklift block illustrates the next stage: once the robot loads the pallet onto the L S P, the forklift approaches from the right, its forks inserted beneath the E P A L pallet for retrieval and further transport.Top-down view of O3dyn in the test layout, showing the handover position of the EPAL stored on the LSP. Source: Authors' own work