Pentagoon, in planned completed state, will consist of 5 leg modules (or ganglia) each with an onboard Atmel AVR 1200 microcontroller chip driving two servos, one to raise and lower the leg and one to drive the wheel, and receiving input from various sensors. These will be in serial communication with a central processor, an Atmel mega323 microcontroller, which will handle all the major decisions about which leg to move when. Any subsidiary sensors e.g. a line-following sensor would be connected to this processor. It may be completely autonomous or connected via a USB cable to a PC to allow a human or computer programme operator to give the robot instructions.

This is summarised in the diagram below: