A milking method and apparatus is disclosed comprising a sensor apparatus to determine the location of at least one anatomical feature of an animal in a lateral direction where the anatomical feature is not the udder of the animal (i.e. a leg). The sensor apparatus comprises an image capture apparatus (16) to acquire at least one image of part of the animal. A robot arm (14) is located either behind or in front of the animal and is operative to move towards the udder in dependence upon the determined location of the anatomical feature.
