Got the servo thing straightened out Timmay and the dual 7805s seem to be working fine. I've verified the "palm" switch and mobility detector <check>.
Now I just need to tie all the programming together to deposit the block in the box while staying on the table.
Currently the robot can move forward staying on the table (downward facing IR) and when he blunders into the palm switch it triggers the gripper. When the gripper is actuated and it "feels" something in its palm the gripper stays closed tight.
One thing I need to do is insert code to use the lower differential sonar to find the block and then once acquired use the higher swivel servo to find the box.