---
publication_id: "OT-2026-000001542"
title: "Methods, apparatuses and computer program products for providing a dynamic clearance system for depalletizing objects"
published_at: "2026-09-15T19:06:33.918867Z"
canonical_url: "https://opentechnical.org/p/OT-2026-000001542"
categories:
  - "robotics-automation/robot-architectures"
keywords:
  - "b25j9/1687"
  - "b65g61/00"
  - "b65g61/00"
  - "g06t7/70"
  - "b25j19/02"
  - "b25j19/022"
---

# Methods, apparatuses and computer program products for providing a dynamic clearance system for depalletizing objects

## Abstract

Methods, apparatuses, systems, computing devices, and/or the like are provided. An example method may include determining a height value associated with a highest object on a pallet; causing a light detection and ranging (LiDAR) sensor to travel to a height based at least in part on the height value; determining whether a detection signal from the LiDAR sensor indicates a first clear status; in response to determining that the detection signal indicates the first clear status, causing a robotic arm to lift the object until the detection signal indicates a blocked status and then a second clear status.