Throughout the course of the book, we have used a few input sensors. We have also published data from these sensors to the web. T.A.R.A.S. uses a distance sensor to detect objects close by, as can be seen in the following picture:
Looking at T.A.R.A.S for the first time, you would be forgiven for not knowing where the distance sensor is located. On T.A.R.A.S, and many other robots, this sensor is located in the eyes.
The following is a photo of the HC-SR04 distance sensor—the one used on T.A.R.A.S:
If you do a Google image search for HC-SR04 on robots, you will see many, many robots that use this sensor. It is a very popular choice due to its low cost and wide availability, as well as its handy resemblance to eyes.