The lab I work at came out with a new microcontoller called the Qwerk. It has 16 servo outputs, 4x motor drivers, 12-bit a/d convertors, as well as a bunch of digital I/O's. Since it is running Linux, it can support USB devices like a webcam and a WiFi dongle. In this video I am using a program that connect to the Qwerk over the internet, displays what the webcam sees, allows you to control a pan/tilt system for the webcam, and drive the robot using two motors.
Since the motor drivers can only supply 2 amps, I added a sx microcontroller into the mix. The motor controllers drive a set of small motors with encoders built in. The sx then reads the encoders and translates that into RC pulses for the RC motor controller. 

If you would like to learn more, or have any questions don’t hesitate to ask. Here is a video and a picture.