Abstract: The present invention relates to milking apparatus. The milking apparatus comprises sensor apparatus (16) that is operative, in use of the milking apparatus, to determine a location in a lateral direction with respect to an animal of at least one anatomical feature of the animal, the at least one anatomical feature being other than an udder of the animal. The sensor apparatus comprises image capture apparatus (16) that is operative to acquire at least one image of at least part of the animal. The milking apparatus also comprises a robot arm (14) located, in use of the milking apparatus, either behind or in front of the animal, the robot arm (14) being operative to move towards the udder in dependence upon the determined location of the anatomical feature.