I have spent a while redesigning the ATRT recently, and posted a few 'ibles showing the building of some of the more interesting parts.
It features a laptop PC, controlling a slave MCU to control the hardware. To keep costs as low as I could, I used a lot of scrap/re-purposed materials and parts, and only one 12V battery, and forwent a welded steel frame in favor of a cheap wooden one.
In this video, I'm controlling the trike with another laptop PC and my client/server programs, while my awesome fiance films in the freezing cold. There are some more videos on my YouTube profile for this project: mobilisCruise
Copyright 2007-2009 Gabriel Stewart (dba Psymansays Robotics).