A Picaxe 20x-2 microcontroller controls an infrared distance sensor to locate and pick up objects. It uses serial commands to control a motor controller which operates the two gear motors that move the tank treads to propel the robot.
It also uses serial commands to control a servo controller which positions the three servos which operate the body, head and gripper movements.
It can be controlled by a standard TV remote control or it can operate autonomously.
The robot ant uses modular construction. Each circuit is a module that plugs into .1" header sockets. This makes it easy to test each circuit on a breadboard before it is installed. It also makes the modules available for the next robot or other project.
For details on making these modules see: http://www.instructables.com/id/Picaxe-Projects-1-Making-Fast-Printed-Circuit-Mo/
The robot ant is about 12 inches long and was made intentionally larger than necessary to allow room for more circuits. I intend to use it as a test platform for skin sensors and antenna sensors that I am working on.