After a couple days of marathon coding, Stubby v3 is now pretty much complete.  You can move in any direction on the XY axis, translate the body on the XYZ axis, and roll the body on the XYZ axis.  See all this and more in the demo video:

Check out the website at http://stubby.digitalcave.ca for detailed component list, build instructions, schematics, etc.

If you have any questions / comments please let me know in the comments, and I will be happy to respond.