I think (hope) these are the equivalent parts to make this project: http://www.instructables.com/id/Intro-and-what-youll-need/. To lower the costs and maximize the educational benefit, we've decided to buy enough to convert one arm as listed above. But, then we will build 4 of our own motor controllers using this project description: http://www.instructables.com/id/Dual-H-Bridge-L298-Breakout-Board-Homemade/. There are a few high school seniors on one of our robotics teams (www.error404robotics.com) and they are ready to take on the challenge. We've tried to make the part selections as universal (and cost effective) as possible so the parts can also be used for general circuit classes for the younger students and more advanced digital electronics for the older students.