Fred InMoov is built using two Raspberry Pi 3 with a planned third one to be installed.

Servo Control is done using a PCA9685 Servo Driver in the form of a raspberry Pi Hat from Adafruit Industries located on the top of top moths RPi named Fred_1, This is then conneted to 3 other PCA9685 Servo Driver as stand alone boards, one located on the back, and one in each bicep.

Located in each forearm is a ADS1115_16B_4CH_I2C_ADC again from adafruit industries. This allows for 4 of the 5 finger pressure sensors to be monitored.

Heavy power cabels are run from a central power switch bank to each of the servo driver boards to avoid voltage drop, and thus draw more current by the servos resulting in motor burn out.

Currently, the Raspberry Pi's are communicating with each other using WiFi.

Here is where the first of the problems are, in order to allow internet access, the units are connected to the house router, where they are provided with an IP Address as well as access to the net.

When the router goes down or Fred is out of range of the Router, the links between the Rasbperry Pi's fails as well.

When using speed control of the servo's connected to the PCA9685 drivers, MRL is haing to do a lot more work so slows down the processor.

For this reason, the master controller will need to be separate from both the video processing as wel as the servo control.

Just a bit of a warning with regards to Servos.

In HairyGael's BOM section on servos and other compatible servos, for the smaller servos, about halfway down the list in order of his preference is the MG996R.
Gael lists this as a 180degree rotation 12Kg servo that sometimes burns out.
I would also add to that, on power up it turns about 20 degrees counter clock wise in an uncontrolled manor.  This was for a chinese brand "Towar dpro".
This could be a problem if you are at the limit of your robots movement when the power is applied as it may rotate beyond your robots limit if it isn't at the servos limit.

During the exstraction of a micro SD card from a Raspberry Pi3 in the head of Fred, one of the ears fell onto the power switch for the head servos turning it on, the resulting movement of the neck rotation servo resulted in a broken micro SD card and a loss of many hours of programing work.  I strongly reccomend disconnecting the battery before you work on your robot for this reason along with a number of other reasons including accidental short circuits which can melt your wiring.

The JX 6221MG does not suffer from the same problem, and is rated higher at 20Kg.

More information to follow.