This is a small robot using my previous things (http://www.thingiverse.com/thing:923605) and (http://www.thingiverse.com/thing:941230). It is powered by an Arduino nano and a ESP8266 providing WIFI connectivity. There's also an IMU and 3 ultrasonic sensors. Firmware available here : https://github.com/laurent-fr/W3W-Bot (updated with display support) UPDATE 15/08/2015 : Pin swap on motor3 (W3W-Bot.sch), adding display support https://www.youtube.com/watch?v=FhN_-Y1UXZEFirst, build http://www.thingiverse.com/thing:923605 and http://www.thingiverse.com/thing:941230 You will need to modify 3 standard hobby servos : On the first floor, you will need : See the diagram 'w3w-bot-psu' On the second floor, you will need : Use pictures and schematic 'w3w-bot' ( hint: for 1.8K resistors I used SMD on copper side of the breadboard ) Software: The firmware is available at https://github.com/laurent-fr/W3W-Bot When powered on, the robot should turn to magnetic north after a few seconds, and stay in this position (try to rotate the robot by hand). Then you should be able to telnet the robot (the IP address is displayed on the first line of the screen) , for now there are a few simple commands (all the angles are in degrees) :