Software on microcontrollers:

• Generation of PWM signal for servo controlling

• Communication with PC

• Processing of gyroscope signal

Softwares on PC:

Softwares on the PC are in connection with each others.

• Motionplanning

• direct moving of joint

• point to point controlling

• pathplanning

• Simulation

• Simulation of gravity

• For test of motion

• Robotmovement with genetic algorythm

• 3D space, generated by robot

• Speech generation , speech recognizing

• Image processing of two cameras

• Filters

• Edgedetection

• Stereo-optic algorythm

• 3D space in simulation

• Artifical intelligent

• Holding the balance of the robot

• Further developments

• "Thinking"

• recognition of logical processes (causality algorythm) 

• Other recognition

• Apllication of simulation based on emotion

• Wireless communication