## 4 Simulations
```
1 Point-to-point motion to box target frame
2 Linear downward approaching movement (200 mm)
3 Close the gripper
4 Linear upward approaching movement (200 mm)
5 Linear movement (600 mm)
6 Linear downward approaching movement (200 mm)
7 Open the gripper
8 Linear upward movement (300 mm)
```
**Procedure 2**: one-box picking/placing, gripper tool
1 Point-to-point motion to box target frame
2 Linear downward approaching movement (200 mm)
3 Close the gripper
4 Linear upward approaching movement (200 mm)
5 Linear movement (600 mm)
6 Linear downward approaching movement (200 mm)
7 Open the gripper
8 Linear upward movement (300 mm)
```
**Procedure 3**: one-box picking/placing, gripper tool
1 Point-to-point motion to box target frame
2 Linear downward approaching movement (200 mm)
3 Close the gripper
4 Linear upward approaching movement (200 mm)
5 Linear downward approaching movement (200 mm)
6 Open the gripper
7 Linear upward movement (300 mm)
```
**Procedure 4**: one-box picking/placing, gripper tool
8 Point-to-point motion to box target frame
9 Linear downward approaching movement (200 mm)
10 Close the gripper
11 Linear downward approaching movement (200 mm)
12 Linear movement (600 mm)
13 Linear downward approaching movement (200 mm)
14
15
16 Linear downward approaching movement (200 mm)
17 Open the gripper
18 Linear upward movement (300 mm)
```
**Procedure 5**: one-box picking/placing, gripper tool
19 Point-to-point motion to box target frame
20 Linear downward approaching movement (200 mm)
21 Close the gripper
22 Linear downward approaching movement (200 mm)
23 Linear downward approaching movement (200 mm)
24 Open the gripper
25 Linear upward movement (300 mm)
```
**Procedure 6**: one-box picking/placing, gripper tool
26 Linear downward approaching movement (200 mm)
27 Open the gripper
28 Linear upward movement (300 mm)
```

**Procedure 7**: one-box picking/placing, gripper tool
29 Linear downward approaching movement (200 mm)
30 Close the gripper
31 Linear downward approaching movement (200 mm)
32 Linear downward approaching movement (200 mm)
333
344
355
366
370
381
382
383
384
385
3867
3878
3888
3890
3891
3892
3893
3940
3951
3962
3973
3984
39952
39963
4997
49985
4999
5999
6999
7999
8999

89999

99999

99999

## 5 Experimental Setup, Perception and Control System

In order to perform a preliminary evaluation of the proposed depalletizing system, a prototype was set up, as shown in Figure 4(a), which does not include the lifting device on the AMR. Moreover, only a single layer of boxes is present. Experiments were conducted in a laboratory environment instead of an industrial setting, due to the ongoing the COVID-19 pandemic. Since we are interested in demonstrating the capability of the system to collect a limited number of items without manipulating an entire pallet layer, we present the experiments that involve unloading of two boxes. The 3D camera is shown in Figure 4(b), as well as the paddle tool connected to the manipulator through a custom flange. The algorithm describing the box extraction task is detailed in Algorithm 1. After the mobile base has moved closer to the pallet, the system performs _detection of parcel boxes_ as described in Section 5.1, by moving the 3D camera to an elevated pose in order to have a complete view of the pallet top layer, and it detects the 3D position of all the boxes in front of the loading surface of the robot. Then, in the _box depalletizing plan_ phase, the sequence of picking operations to be performed is determined according to the pose of the boxes with respect to the robot. Each picking operation is performed as follows. First, an edge of the box is chosen for the picking and its position is evaluated according to the camera estimation and the box dimensions. Then, the camera on the arm is moved above the estimated position to perform a close view refined estimation of the center of the gap between two boxes, where the tool should be inserted to complete the retrieval (Section 5.2).