ocr: cantact Proximity e Sensors Expioce Forward Moion Walker veesage Leg Molion Control Sysien Figure 2: Ibe organization oftbe multiple state. nacbines (in the boxes) for. tbe robol in a stbsumption scbeme. Motion-conirol messages coming into the "S" nodes vertically will override a message coming into the nodefrom the borizontal airection. Note that in the dhemegfanyatenidong mnessages, the robot icill aalk straigbt forward,
