use nupic to control a robot like mule-bot

[James Chen]

hello every one,
I am a newbie ,I want to use nupic to control this robot(
http://security.blogs.cnn.com/2012/02/07/meet-the-mule-bot/)
not vision detect part,just the four leg control,and realize self-balancing
and walking.
so my question is where can I start ,any suggestions will be grateful,
thanks.