[Salik Syed]

Well I'm saying why not build an interface for transferring data between a x86 type system and a low-level controller such as a PIC. Then we could easily build libraries to program via any language we wanted.

I think it'd be alot easier to debug software problems when we can run development tools straight on the processor. Having an embedded device without extensive debug tools would be a nightmare. With a PC type controller I could run 3rd party debugging tools straight on the robot and know exactly why my code doesn't work. All that is necessary is driver libraries written for a few different languages.

Also what about external 3rd party libraries written for x86 processors? Do you think they will port over seamlessly to your embedded processor? What if I want to run some complex image processing or motion planning ... how do I do that without modifying code that was probably written only to work with a limited set of hardware (A PC!)?
I don't really care if an XScale provides the same processing capabilities as an x86... does it support the same freely available library code and development software?

Embedded devices are nice for 3 reasons: low cost, light weight and portability. If we look at ease of use and flexibility the fact is that PCs win hands down. Cost is certainly a factor, but we are not mass producing these robots and selling them so a few bucks really doesn't matter much, nor do our robots need anything tiny and lightweight to fit in a phone.

Almost all the robots I have seen in the Stanford AI lab have a setup similar to this... Take the DARPA car for instance. They have four servers running Pentium 4s with extra hardware to support communication with sensors and car controls. The "little dog" robot has an embedded processor only for motor control and PID on the joints. They connect it wirelessly to their workstations (running Solaris) to do the actual computations and decision making. The roboticists need ease of use and flexibility ... PC based processors provide that. You have easier debug support and an almost infinite collection of library software at your finger tips.