I started with a Kernel written in Nxt Byte Code. I plan to implement a message based schedulling.
For the moment I have a simple dispatcher. A process starts working until it returns to the Dispatcher. Later this return-to-the-dispatcher will be done when a Process does a receive. Also I will implement priorized process, to be able to implement a layered programming (higer prio process will interrupt lower prio processes)
I did update the technik a little ;-) bougth a Lego Mindstorm NXT Kit. The Idea of a six legged robot also changed to simple a walking robot (need not that much HW). The lego kit is perfekt to build the models and is accessible for nearly everyone. I will document my models with LDraw, so everyone kann extrakt a Step by Step construction plan from it.