From the website:
"There are 4 DOF, each powered by a high speed nano servo (Tower Hobbies TS-5). These servos are rated at 20.8 oz-in of torque at 6.0V and only weigh 0.34oz. The final weight of the robot is about 12oz. The sensor array consists of 4 touch sensors on the bottom of each foot, Left and right IR obstacle detection, and 4 CdS photo detectors located on all four sides of the robot. The heart of the control system is a Microchip PIC16F819 micro-controller and a separate 8 channel A-D converter. I originally designed the control system using a PIC16F84, but I later switched to the PIC16F819 so I could use the Microchip ICD2 in-circuit debugger/programmer. The PIC16F819 is pin compatible with the PIC16F84, but has more peripheral options like a built-in 10-bit 5-channel A-D converter. The ICD2 has worked great (unlike the original ICD) and I would definitely recommend it."
http://home.ctlnet.com/~minimechadon/minimechadon.htm(avi videos at the bottom of the page)
