Read this thread for an idea Click Here I've now got it working really well I'll post a video later

Maybe line up IR sensors in pairs? That way they trigger right as bots about to touch. Maybe just along the bottom edge? Maybe just 6 pairs , two pairs faced forward close to the edge/corners , then another 2 pairs on those corners facing the sides , lastly two ir sensors at the rear corners facing strait back. Also I could put ir sensor in the forhead or chin of the bot? So it "seas" a table? How many sensors can I use on the ezb?

@ jstarne1 Thats a lot of sensors I'm just using my method for an emergency when Omnibot gets stuck somewhere

Was it stalling out and then reversing or you using a sensor of some type?

Yep I got a Hall effect Sensor wired to an ADC port which detects the motor stall current and a script that backs away and then turns the Robot if the ADC value drops below a certain threshold

you could use a Whisker Sensor Kit

http://www.hobbyengineering.com/H1221.html

example:

hope that helps

I monitored the positive voltage on the GND feeding the motor controller from an ADC port. If the value exceeded 5 (i think), then the omnibot was stuck. You can look at my omnibot source in the SDK tutorials to see

there is many ways to detect furniture,micro switches with levers,magnetic,IR SENSORS,bumber push button uses in neato xv-11,utrasonic not so good,mostly anything cloth or foam wont detect so really depends you want to use analog ports (not too many ) digital one pin (has many)

on bumber switches used in neato xv-11 ,i have many i can sell very cheap ,i mostly use on the laser for my robots since it very good for navigation,very low current not like the KINECT draws about 2 amps plus motors and more ,like sharp IR sensors analog used in my brookstone rover project