Today Steve was featured on daily planet with his new "cobrabot", a robot that is built to face track and get scared and back away when something gets too close to it. I just found his website. He's made a lot of robots. I like the stool robot he made.

Norris Labs

It appears he has managed to figure out things that we all have not fully been able to come to a conclusion on.
1. his balloon gripper. we had one person mention about the noise of an air pump. he is using a hand vacuum and a servo as the air pump and it's pretty quiet!

2. His ir beacon navigation system. I know that there has been a lot of talk about an ir beacon system used for docking. look at how he has done it.