Controller: MIT Handy Board Handy Board expansion board Motors: SOHO GBS35D-19260-15YC 12/24V gearhead motors modified for slightly higher speed Servos: 2 standard, unmodified servos, generic brand Sensors: - 1 Polaroid 6500 ranging module - 5 GP2D12 optical ranging sensors - 1 Lynxmotion IRPD object detector - 2 Hamamatsu photoreflectors for wheel encoders - 1 Eltec pyroelectric detector Software: Interactive C Base: Lynxmotion 1/4" sheeting cut on a bandsaw using templates made up on AutoCad Lite Wheels: 4" Du-Bro radio control aircraft wheels from hobby store and 1 1-3/4" caster wheel on swivel. Bateries: Standard batteries for handy board and 2 12V camcorder bateries from Radio Shack Summary: This is my first attempt at building a robot and took me about a week to design and fabricate the parts, most of which was just thinking about how to lay it all out. Everything works well, but I am not much of a programmer or hardware guy, so I've been playing with this thing just trying to keep it from running into things and wall following which it does well. I hope to get it to do some simple dead reckoning and plan to add a compass soon. I also want it to do a little better at exploring areas by using the pan/tilt sensor head with 1 GP2D02 and the Polaroid sensor in it. Another thing yet to do is add some function to allw it to sense people/animal movement with some accompanying behavior, but I still need to work on good software for the Eltec sensor. Email: robertkelly@adelphia.net