The N900 is a very potent development platform. It runs Linux and there is a SDK to access certain parts of the hardware like the 3 axis accelerator.
Here are some of the specs:
- TI OMAP 3430: ARM Cortex-A8 600 MHz
- Up to 1GB of application memory (256 MB RAM, 768 MB virtual memory
- 3-axis accelerometer
- 5.0MP (2,584×1,938), f/2.8 Carl Zeiss Tessar lens (rear camera)
- Micro USB connector for charging or host mode
- WLAN 802.11 b/g
- Bluetooth 2.1
- Proximity Sensor
So far I installed ROS on it and can access the camera. I wrote a library to access the Robotis servos in C++ in will port them to ROS. That development was done for an insect type robot, which I build previously using the Bioloid kit and Phoenix Spider base. Finally I didn't like the result much (to heavy and bulky).
I did mount a pico mainboard on my bioloid humanoid before and an additional battery, webcam and voltage converter, but I also found the design to heavy, so I finally switched to the N900.
BTW: The N900 is connected to the USB to Dynanixel adapter, but I removed the Serial portion, since I don't need it.