A simple household robot can push, or carry an object from one place to another place, walk to a specified location from its current position, pick up an object, putdown an object it is presently holding, and place an object on another provided the top of the second object is not currently occupied by anything. Th e differences that may appear between the states of the robot world are with respect to the position of some object, position of the robot itself, whether or not the top of an object is clear, whether or not a specified object is on the top of another specified object, whether or not the robot arm is free, whether or not the robot is holding a specified object etc. Th e robot may pick a small, or light, object but not a big, or heavy, object. If the object is small, or light, it may pick it up and move to some place. However, if it intends to transfer a big, or heavy, object from one location to another, it has to push. Propose a set of operations for the said robot with their pre-conditions and results expressed as predicate logic formulae. Construct the Diff-erence-operator table to be utilized by a Mean sends Analysis system and apply it to generate a plan for the robot to transfer a heavy object from one corner of a room to another corner.