this unit doesnt get close enough to the furniture on most but DOES like to climb up our bar stools and another chair that has 4 desk like legs that start approx 1" off the floor and slant upwards to the center appox 5" off the ground. the bar stools are on pedestal with a large round silver bottom. irobot has scratched the daylights out of all of these. also the round base does not get into orners at all. the mop leaves streaks on the floor wherever it goes.