Surprise! Surprise! We have a redesign. I've decided since there are so many servos I'd use a MSSC (Mini Serial Servo Controller). My pin out looks something like this now:

BS2

 0 - MSSC - Left wheel 

          - Right wheel 

          - Swivel servo high 

          - Tail servo 

          - Gripper servo low 

          - Gripper servo high 

1 - Left bump switch
2 - Right bump switch
3 - Left downward facing IR
4 - Right downward facing IR
5 - High ultrasonic Ping!
6 - Low left ultrasonic Ping!
7 - Low right ultrasonic Ping!
8 - Speaker
9 - Left tail switch
10 - Right tail switch
11 - Palm switch
12 - Mobility detector

... and here's a peak:

The Ultimate TABLEBot