Much like the other two robots Baby Joe is a technology demonstrator. My 1st experience with Basic Stamps was very good! These are the coolest little chips. If you have a working COM port, snap this chip in, write a program, and your off. Baby Joe, is very similar to Tether Bot except he has a Basic Stamp II for a brain and 4 D cells as a power supply. The plexiglass and aluminum chassis that I bought at Lowes, was real nice to work with and cheap (less than $5.00). I used a cabinet knob as a rest for the back of the bot. Since the bot is slightly back heavy it rest there nicely and does not cause too much friction on a carpet. Baby Joe is another technology demonstrator built a lot like Tetherbot. The only difference is his size, the addition of a Basic Stamp II and a Battery pack. Other than that he does the same things. Rear View Again I used the no 3rd wheel system. This did not present any problems and kept the bot's profile low. I added calibration port hole for the IR tuning potentiometer. I think this was the best feature of the new bot. Now I could calibrate the eyes with a debug program and then set the bot off to avoid things at different distances. Front View Because I reused an old project box I could not fit the IR receiver inside the box, but no worries, it's only impact was on aesthetics. Now you see what makes Baby Joe go. The 4 D cells provide the power and on a PCB to the left mounted underneath you have the IR Oscillators and voltage regulator. Subsystems Description Chassis - consist of aluminum framing and plexiglass. Power - Basic Stamp II = 4 x "D" cell providing 6VDC regulated by a 5VDC Regulator from Radio Shack. There will also be a switch to function as a global on/off power switch. Locomotion - x2 "Hacked" Futaba 3003 DC Servo Motors. The hack I used was to replace the potentiometer with a voltage divider consisting of two 1/4 watt 2.2k resistors. Sensors - 2 Hi-Output IR LED's from Radio Shack and 1 Sharp 40 kHz IR Receiver Modules. A similar schematic of the circuit can be found here. Control - Basic Stamp II. Basic Stamp I/O More info at http://www.scottpreston.com Click on Robots Email: scott@scottpreston.com