(From PC Mag:
http://www.pcmag.com/article2/0,1759,1658419,00.asp)
A Robot in Every Roomba
Why would anyone want to hack a vacuum cleaner? Because it's a robotics platform. If you're into the software side of robotics, a Roomba will give you the hardware platform—motors, wheels, sensors, battery, and charger that you would otherwise have to obtain elsewhere, a process that would be an expensive and time-consuming obstacle to your project. The Roomba isn't rugged enough for a BattleBot, but it's perfect for experimentation.
One approach is to do brain surgery on the unit, replacing its microcontroller with a popular, easy-to-program controller such as the Basic Stamp. The Zoomba was an early attempt at such a device, but it never made it past the prototype stage. Another effort, dubbed RoombaBT, has as its goal a Bluetooth-enabled Roomba, so you can direct your vacuum wirelessly, even from your cell phone. You can stay up-to-date on various Roomba hacks at
www.roombacommunity.com and get step-by-step disassembly instructions at
www.tla.org/roomba/.