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I am well familiar with the ARM7 but just decided on using the avr which is more popular too. I got inspired to use more than one ucontroller with the pleo robot that uses several ucontrollers:camera-based vision system (for light detection and navigation) two microphones, binatural hearing beat detection (allows pleo to dance and listen to music) - this feature was removed but may be added on again. eight touch sensors (head, chin, shoulders, back, feet) four foot switches (surface detection) fourteen force-feedback sensors, one per joint orientation tilt sensor for body position infrared mouth sensor for object detection into mouth infrared transmit and receive for communication with other Pleos Mini-USB port for online downloads SD card slot for Pleo add-ons infrared detection for external objects 32-bit Atmel ARM 7 microprocessor (main processor for Pleo) 32-bit NXP ARM 7 sub processor (camera system, audio input dedicated processor) four 8-bit processors (low-level motor control) Well I'am off to desingn and build.