This is what SAL looks like, he is about 6" long and 2" wide (not including the leg span). He uses 4 BG micro-motors for walking and a smaller one ripped out pf a RCA camcorder for his head and phototopicism. The back section of the circuitry is where the motor cortex (responsible for movement, Mcore) is . The front is the visual cortex, which integrates his head information with the Mcore. H-bridges are used to drive the motors and can be see on top of them. He is a good walker on flat, hard surfaces and equally capable on carpet. It is actually more enjoyable watching him walk on carpet due to the extra stain of the carpet on the motors, causing the waist joint bend more.

This is the Motor Cortex. Two master-slave bicores coupled together, and the reverser. All in a fairly small package.

This is his viusal information processing center, the most complex part of the bot. It contain the phototropic head bicore, h-bridge for the head motor, and the switching and logic needed to make him turn and reverse.

This is the waist of SAL. It gives him the Slithering Analog Life-form (or SALamander) walking ability. This is also where I'm going to put his battery charger circuit.