Seems like we posted on this subject a while back.
Check out this video - http://www.youtube.com/watch?v=NNkkuMO5l7A&feature=player_embedded
"We keep moving forward, opening new doors, and doing new things, because we're curious and curiosity keeps leading us down new paths."
- Walt Disney
"In almost every robotic project I attempt, I am way over my head going into it..." - Carol Lynn Hazlett