After over three years of thinking about making Ralph mobile, I have finally completed the basic chassis and have basic mobility avilable through joystick and voice command, will begin adding IR and ultrasonic distance sensors this week for collision avoidance. Since this is the first entry in diary, I will explain basic design. system is based on multiple processors, one PC compatible system running win98SE for Ralph to run on. basic autonomic functions are handled by two NewMicros ServoPods, one in base for traction control and basic functions such as objoct avoidance, general system status (battery conditions, temp monitoring, basic position control), second is mounted in upper portion of torso and controls arms, facial expressions and general animatronic type functions. I will post additonal info in subsequent entries as progress continues from this point.