I'm starting this thread, but my son will probably come on here to finish it. He's got an NXT and really enjoyes robitics. It's his thing. There is some other robitics system that is better, but we can't afford to upgrade to it anytime soon. In the meantime he's been working on getting his NXT to walk well and is reprogramming it in binary, or something like that. Hopefully he'll be along later to chat about this stuff. I've probably misunderstood and misexplained some of it.