Edge Detectors

The bottom is very smooth to prevent catching on objects.  Near the front edges, there are two down-looking IR edge detectors.  These help Garcia determine where there are ledges or drop-offs to avoid when moving around.  As with all the IR rangers in the Garcia, these can be selectively turned on (enabled) or left off to conserve power for longer runtimes when not needed.

Idler

Garcia uses a unique Acroname designed castor arrangement using a polyeurethane omni-directional wheel.  This avoids any rotation variance due to castor angles and requires no castor sweep space.