As a first step, I pick up available parts from my tool box; there are servos by Kondo-Kagaku Inc. , and several aluminum frames by Makeblock suitable for my project!

I searched other parts such as wheels so that I can assemble basic platform for my robot, and reproduced them in 3D CAD. It is helpful to build up concrete image for  consideration of arrangements on electronics, sensors, batteries etc.

Unfortunately there was no suitable servo brackets to arrange servos to the frame, so I designed by my own to manufacture them by 3D printers.