Systems and methods for active suspension

An active suspension system for a robotic cleaning device, the active suspension system comprising:

• a wheel assembly including:
• an arm having a first end pivotally mounted to a chassis of the robotic cleaning device and a second end opposite the first end;
• a wheel rotatably coupled to the second end of the arm, the wheel configured to contact a target surface;
• at least one cam in slidable contact with the arm;
• and
• at least one cam motor mounted to the chassis of the robotic cleaning device, the at least one motor configured to selective rotate the at least one cam;
• wherein the at least one cam is configured to push the second end of the arm away from the chassis when the at least one cam motor rotates the at least one cam in a first rotational direction.

A method of controlling a robotic cleaning device, the method comprising:

• sensing, via one or more sensors, one or more characteristics of an environment surrounding the robotic cleaning device;
• identifying, via one or more processors and based on the one or more sensed characteristics, at least one object in the environment;
• determining, via the one or more processors, that the at least one object is located in a path of the robotic cleaning device;
• determining, via the one or more processors and based on the sensed one or more characteristics, at least one dimension of the at least one object;
• and
• activating an active suspension system of the robotic cleaning device to increase the distance between a chassis of the robotic cleaning device and a target surface based on the determined at least one dimension.