Roboty is an autonomous 6 legged walker. It is about 15" long and stands about 6" high. Each leg is controlled by its own 68HC705K1 microporcessor which generates the control signals for a pair of servo-motors. The 6 705's are connected on a SPI "network" and are controlled by a 68332. The '332 handles the coordination of the leg motions, manages the sensors, and makes the high level decisions about what to do next. Most of the sensors are mounted on a sensor "head" that can be steered up/down and left/right. See http://www.taygeta.com/robotics.html for more details