Let's Make Robots!

Single board computer

Good Robot Controller?

Ok I am planning on building a "small" humanoid robot that can has computer vision and can do many tasks. I am planning on using a small onboard computer to do all the processing so that it can be autonomous and reduce the need to have another computer on for it to work. Anyway I am looking for a small, not expensive, and easy to use, some what powerfull small computer or single board computer that has usb ports,can run off a small battery and can run lunix. I am thankful for all suggestions.