Torobo GTC

Torobo GTC is a logistics solution that uses a mobile manipulator to transport goods from shelves to cage carts or similar conveyances without human intervention. GTC stands for Goods-to-Cage Trolley, Goods-to-Cart, Goods-to-Conveyor, etc., differentiating from the existing GTP (Goods-to-Person) by eliminating the need for a picking station, thereby enabling operations without the involvement of human workers.

Shoe box picking using Torobo GTC: Free location

Shoe box picking using Torobo GTC: Fixed location (with depth)

Tasks performed by Torobo GTC

By integrating with the customer's Warehouse Management System (WMS), the robots automatically carry out the following tasks:

  1. Goods replenishment: Taking goods from cage carts or similar and storing them on shelves.
    • The workers place the cage carts filled with goods at the designated locations.
    • The robots pick the goods from the cage carts, transport them, and replenish the shelves.
  2. Goods shipping: Taking goods from the shelves and loading them in cage carts or similar.
    • The robots load goods into cage carts according to the specified shipping units/batch units.
    • Once picking is complete, the workers transport the cage carts to the next process.
  3. Inventory counting
    • We accommodate requests for regular inventory counting, cycle counting, and others as needed.


Objects that can be handled

Initially, we are focusing on handling various types of boxes, but we plan to consider handling items other than boxes in the future.

  • Shoe boxes
  • Boxed appliances
  • Boxed industrial parts
  • General cartons

Features and advantages of Torobo GTC

GTC approach

By eliminating the need for a picking station through the use of cage carts, labor costs associated with workers can be reduced. Additionally, by allocating and loading onto cage carts by shipping/batch units, it is possible to minimize sorting in subsequent stages.

Direct picking of goods

By directly picking goods that are densely arranged on the shelves, Torobo GTC achieves higher storage efficiency compared to robots that place goods inside totes.

High throughput

The robots can travel at up to 3m/s and achieve an average throughput of about 60 pieces per hour per robot, enabling high productivity.

Compact chassis

By compacting the robot's chassis, it becomes feasible to operate within aisle widths of 850 to 900mm, while also achieving a small turning radius. This enables high storage efficiency.

Shelves of approximately 3.9m high

The use of storage shelves approximately 3.9m tall enables high storage efficiency.

Using existing shelves is also possible

Customers can repurpose the existing shelves they have used in warehouse operations, reducing initial costs.

Automatic inventory count

By automating the manual inventory count with robots, labor costs can be significantly reduced.

Battery exchange instead of recharging

Rather than spending time recharging batteries, they are swiftly exchanged. This increases the robot's operational time, enhancing productivity.

24-hour unmanned operation

The capability of operating unmanned 24 hours a day not only reduces labor costs but also significantly enhances productivity per robot.

Operable in low-light environments

The robots are capable of operating in low-light environments, enabling a reduction in electricity costs during unmanned operations.

Incremental implementation is possible

Partitioning the areas where the robots operate allows for a small start, reducing risks.


Since all basic components are manufactured in-house, customization tailored to the customer's site, including robots, shelves, and operational methods, is possible.

Robot lineup

Product type TG-L TG-S
Robot size L980mm×W580mm×H3920mm
(* Height customization is possible)
(* Height customization is possible)
Robot weight 220kg 195kg
Turning diameter 1100mm 1100mm
Maximum movement speed 3.0m/s 3.0m/s
Minimum aisle width 900mm 850mm
Picking height 100mm~3900mm 100mm~2600mm
Supported box sizes L150~500mm
(* Customization is possible)
(* Customization is possible)


System configuration

  • Robots
  • Battery exchange stations
  • Wi-Fi access points
  • WCS (works either in the cloud or on-premises and integrates with the customer's WMS)
  • Shelves (Optional; customer-owned shelves can also be used)
  • Cage carts (Optional; can be tailored to fit the customer's environment, such as picker walls or conveyors)



  • Battery exchange station

    By utilizing a battery exchange station, batteries can be swiftly swapped out for a fully charged one. Furthermore, as multiple batteries can be charged simultaneously at one station, several robots can share a single station. This arrangement leads to a reduction in the number of stations required.

  • Autonomous navigation using 3D maps

    By using 3D maps created with 3D LiDAR and self-localization based on these maps, high-speed and stable autonomous navigation is achieved in warehouse environments, which often become homogeneous spaces difficult for autonomous movement.

  • Ninja markers for location recognition

    We have developed "Ninja markers," one-dimensional markers suitable for attaching to the edges of shelves to identify positions on shelves. With these markers, not only the ID indicating the position, but also the 3D relative positional relationship between the shelf and the robot can be obtained.

  • Stable box shape recognition

    To ensure accurate picking, depth cameras are used for box shape and size detection. Additionally, we have developed algorithms to separate overlapping boxes.

  • Bulk recognition of cases on a cage cart

    The filled cage carts, packed by workers, are scanned with a 3D sensor to automatically recognize the number and arrangement of goods. This eliminates the need for workers to manually scan each item with a handheld scanner and register them in the system, resulting in improved efficiency and reduced human errors.

  • Management of the movement paths of multiple robots

    Our sophisticated pathfinding algorithm enables high-efficiency, collision-free route planning in real-time. This approach allows for achieving high productivity with fewer robots while ensuring safety.

  • Monitoring of robot operations

    We offer a tool that replicates actual robot movements in a simulator for real-time monitoring of robot operations. This tool operates independently from the actual robot, enabling pre-operation motion simulations.




Please contact us if you are interested in our Torobo GTC.

contact [at]

Related Projects

Autonomous Box Handling Robots

This is a demo of automatic box handling using a mobile manipulator "Tolon" and a Mobile Gripper™. They recognize boxes and conveyors, and conduct the task autonomously.

Palletizing with Mobile Gripper™

This is a demo of automatic palletizing with a Mobile Gripper™. By using left and right independent movable grippers and force detection, cardboard boxes are stacked without gaps.