Abstract: A filling system for robot-capable filling of a motor vehicle with fuel has a filler nozzle and a tank filler neck, with a docking extension provided with a central opening being provided on the neck on the filling side of the vehicle. The extension is rotatable by an upper section around the axis of symmetry to open and close a tank closure. The filler nozzle is dockable by its outlet end to form a positive connection between the filler nozzle and the docking extension. When the filler nozzle is ready for filling, positive elements distributed around the circumference of the filler nozzle and the docking extension mesh positively with one another. In order to achieve a simple docking of the filler nozzle on the filler neck of the vehicle fuel tank for a filling that is always functionally reliable and unimpeded, the positive elements of one docking partner are radially movable and actuatable in the radial direction fluidically, and the positive elements of the other docking partner are rigid.