A device for picking or depositing an item from or into a compartment of an automated warehouse, said device comprising: - a supporting structure provided with first moving means suitable to move said device along a main direction in said warehouse: - a temporary resting zone for said item; - primary electrical power supply means (28, 30) for said device connected to said supporting structure; - a pair of forks (34A, 34B) facing each other comprising second moving means (35A, 36A, 35B, 36B) suitable to move said forks (34A, 34B) relative to said supporting structure in at least a transverse direction relative to said main direction between a retracted position at said temporary resting zone and an extended position in the direction of said compartment, each fork of said pair of forks (34A, 34B) comprising an end section (343A, 343B) provided with at least one thrust element (50A, 51A, 52A, 50B, 51B, 52B) positionable in at least one operating position, in which said thrust element (50A, 51A, 52A, 50B, 51B, 52B) can rest on said item and in at least one idle position in which said thrust element (50A, 51A, 52A, 50B, 51B, 52B) does not interfere with said item, said end section (343A, 343B) comprising third moving means (54A, 55A, 56A, 54B, 55B, 56B) for moving said at least one thrust element (50A, 51A, 52A, 50B, 51B, 52B); - a central control unit (80, 80') integral with said supporting structure, and in that said end section (343A, 343B) comprises a peripheral control unit (90A, 90B) for said third moving means (54A, 55A, 56A, 54B, 55B, 56B), said peripheral control unit (90A, 90B) and said central control unit (80, 80') being configured for a wireless communication with each other, and in that said end section (343A, 343B) comprises rechargeable secondary electrical power supply means (100A, 100B) suitable to power said peripheral control unit (90A, 90B) and said third moving means (54A, 55A, 56A, 54B, 55B, 56B); said device being characterized in that said peripheral control unit (90A, 90B) and said third moving means (54A, 55A, 56A, 54B, 55B, 56B) are mounted on the outer side of the movable end section (343A, 343B) (343A, 343B) of the respective fork (34A, 34B). - a supporting structure provided with first moving means suitable to move said device along a main direction in said warehouse: - a temporary resting zone for said item; - primary electrical power supply means (28, 30) for said device connected to said supporting structure; - a pair of forks (34A, 34B) facing each other comprising second moving means (35A, 36A, 35B, 36B) suitable to move said forks (34A, 34B) relative to said supporting structure in at least a transverse direction relative to said main direction between a retracted position at said temporary resting zone and an extended position in the direction of said compartment, each fork of said pair of forks (34A, 34B) comprising an end section (343A, 343B) provided with at least one thrust element (50A, 51A, 52A, 50B, 51B, 52B) positionable in at least one operating position, in which said thrust element (50A, 51A, 52A, 50B, 51B, 52B) can rest on said item and in at least one idle position in which said thrust element (50A, 51A, 52A, 50B, 51B, 52B) does not interfere with said item, said end section (343A, 343B) comprising third moving means (54A, 55A, 56A, 54B, 55B, 56B) for moving said at least one thrust element (50A, 51A, 52A, 50B, 51B, 52B); - a central control unit (80, 80') integral with said supporting structure, and in that said end section (343A, 343B) comprises a peripheral control unit (90A, 90B) for said third moving means (54A, 55A, 56A, 54B, 55B, 56B), said peripheral control unit (90A, 90B) and said central control unit (80, 80') being configured for a wireless communication with each other, and in that said end section (343A, 343B) comprises rechargeable secondary electrical power supply means (100A, 100B) suitable to power said peripheral control unit (90A, 90B) and said third moving means (54A, 55A, 56A, 54B, 55B, 56B); said device being characterized in that said peripheral control unit (90A, 90B) and said third moving means (54A, 55A, 56A, 54B, 55B, 56B) are mounted on the outer side of the movable end section (343A, 343B) (343A, 343B) of the respective fork (34A, 34B).