Chris has finalized the design for the power amplifier and has specified some new chips. The current design should properly accomodate the generator effect of the backdriven motors. Dale is looking at depth sensors and gyro and doing background reading on Kalman filtering. Jack has been reading up on VxWorks, the Sony camera and ImageNation framegrabber.
There may be problem with some accelerometers in that the don't register anything until 1G but we don't expect to even see that much.