Abstract: A mobile robot comprises a payload transport vehicle engagement element, a load sensor connected to the payload transport vehicle engagement element, a control element, and at least one active wheel that moves the mobile robot. The payload transport vehicle engagement element applies a controllable force (Fx) to the payload transport vehicle in response to a control signal. The mobile robot receives at least a part of a load of the payload transport vehicle via the payload transport vehicle engagement element. The received load of the payload transport vehicle is proportional to the applied force (Fx) and is distributed to at least one active wheel. The load sensor determines a current load applied to the payload transport vehicle engagement element by the load and provides a sensor signal in response. The control element receives the sensor signal and provides the control signal in response to the received sensor signal.