The Ground Sensors extension is comprised of three Infrared (IR) proximity sensors pointed directly at the ground in front of the e-Puck. These sensors are mounted on a small PCB which is placed in the slot near the front of the e-Puck's plastic base. The PCB also includes a microcontroller that continually samples the IR sensors. The value of the sensors can then be read by the e-Puck through the I2C serial interface.

The Ground Sensors can be used for many different applications, such as following a black line on a white surface, surface-detection below the robot, or fall-detection. This extension is currently being used for a student exercise in the Bio-Inspired Adaptive Machines course taught by Prof. Dario Floreano at EPFL.

	The front of the e-Puck with a Ground Sensor module
	A close-up view of the module
	The three IR sensors are spaced out on a horizontal line

Detailed schematics and PCB gerber files for the Ground Sensors can be found on the Download Page .

The user manual (by AAI Canada) of this extension is on the download page also.

This extension was designed at the Laboratory of Intelligent Systems (LIS) at EPFL.