So I've been working on this agent for about a year now and it's finally done after many upgrades and modifications. I built him from scratch by hand with Lexan, an Arconame Brainstem GP1.0 module, a Daventech SP03 Text-to-Speech Synthesizer, a Daventech SRF04 Ultrasonic Rangefinder, Taos TCS230 Color Sensor, Parallax Tank Treads, Hitech Servos, and a Palm m125. All the cables, connectors, battery retention and connection system, mounting systems, and body were designed and built by hand by me. The servos used to drive the treads were modified by me for continuous rotation. The voltage regulation circuit was designed by Brian Whitman and built by both of us by hand. Here are pictures of the final product which will be used in the POPSICLE project.