The sensing system for obstacle avoidance uses a combination of proximity and tactile sensors.
Photoelectric sensors are placed on each side in order to realize the robot’s overall proximity sensing. Safety airbags are placed around the lower part of the robot.
The air pressure in airbags changes which is detected by the connected high-precision pressure
sensor. In Fig.7, the robot uses the proximity sensors to explore the near objects that may obstruct robot,
while tactile sensor perceives the external collision of robot.