I wrote an article recently for a new magazine called Scope. It outlines many of the ideas underlying the design of my robots. Please check it out. You can download the entire first issue from their site here (mirrored here). I also recommend the other articles and their blog: http://www.scope-mag.com. Their approach is great. Judging from the Editor’s comments at the beginning of the first issue, they are interested to see what distinguishes this century from others.