Roomba horns
thingiverse
I tested the 620 Roomba model and found that Roomba horns prevent the roomba from getting stuck under your furniture. This simple model works really great for me. Assembly involves attaching the horns to the roomba as shown in the attached image. Drill holes from behind the bumper at the red crosses, which can be disassembled as described here: https://de.ifixit.com/Guide/Disassembling+iRobot+Roomba+551+Bumper/22501. Use short wood screws for a tight fit; if the holes are too loose, simply adjust the model to secure it properly.
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