An automated storage and retrieval system stores containers, typically- containing biological or chemical samples, at ultra-low temperatures, i.e., from about -50 -C to about -90 -C, preferably about -80 -C under normal operating conditions. Dry gas air flows are used to reduce moisture and the consequential frost within the freezer compartment. A custom insulated door is provided with an access module (22) and a tube picking compartment (30) as well as servo motors for controlling a robot (48) within the ultra-low temperature freezer compartment. The robot automatically places sample storage containers in stationary storage racks within the freezer compartment. Magnetic couplings (70, 72) are used to transmit mechanical power from outside of the freezer compartment to the robot inside of the freezer compartment. The robot has a simplified mechanical configuration. The custom door can be readily attached to standard freezer bodies.