http://glfwtfwhlsm2u5pw3b7crist7bt7fwepj2wgv3n3b64unj22v5435tyd.onion/blog/2019/11/05/Incarnations-of-modularity.html
Only sensors with an equivalent in humans were allowed (no GPS, Radar, Lidar, ultrasonic) so they had to rely on cameras as a primary input. The Beginnings 2008 was one year after the first iPhone was released.
That was way before people even thought about devices like Raspberry PIs!
The FUmanoids had to work with hardware they could get their hands on and get students working with (no exotic DPSs or the likings).