OK ,so my robot butler is right now just a wooden base with two casters in front and two independently motorized bicycle wheels. The motors are controlled by four relays in combinations. Wheel 1 direction and wheel 2 direction. For turning one wheel goes forward and the other wheel goes backwards.
As for sensors, I put IR sensors on the robot for detectors but it was not precise enough. I will purchase Matbotix EZ1 Sonar modules and use those for obstacle avoidance.
Oh yeah, I use a PIC16F627 as the brains of the system. I will put on my wireless video camera and a reciever so I can see video and control the robot over the internet.
The purpose of this robot will be as a butler robot to bring me drinks by voice command, R/C rover, and security robot.
Please comment or email me if you have any extra ideas or tips.
UPDATE : (6/24/08) I'm now extenisvely documenting my new butler robot!!!! The new one can pour drinks , talk, tell time, sweep, and sooo much more. I also give detailed instructions on how you can build your own butler robot!!! All the details can be found on my main page : eRobots.BlogSpot.com and also on the links on the right side of this page. Enjoy!