when I put "21 Vernon St. Hartford CT" into Google Maps, it takes me to the right place. I would think 44 into Hartford is the obvious choice from Winsted/Winchester. GHAMAS is right near Trinity College -- in case you've ever been there. (Trinity holds an annual Firefighting Home Robot Contest every April; I finally made it to last year's event, it was fun.)
http://www.trincoll.edu/events/robot/GHAMAS has a parking lot that opens to Vernon St. As you enter the lot from Vernon St., you will be facing a field, with a building on your right & another on your left. The one on your left is where the CRS meets; there should be signs pointing the way. Unfortunately that lot is occasionally full; I sometimes have to park on the opposite side of the aforementioned field (around the block, off Brownwell Ave.).
I haven't come all the way to downtown Hartford on 44, but you can turn right on N. Main St., then left on Park St., & you can get on 84 East from there. I take exit 48 for Capitol Ave.; it curves to the right & ends at Capitol Ave. Turn left on Capitol, then right on Washington. Follow Washington for a ways, Vernon St. will be a right turn. Then the parking lot is on the left.
It looks like you could also avoid the highway, just stay on Park until it meets Washington; turn right, then right again on Vernon after a few blocks along Washington.
Hope that's helpful, & hope to see you there. They meet monthly, except for July & August, so if this Sunday doesn't work you'll have another chance.
these meeting minutes say "Traver gave us a Scribbler robot demo":
http://www.ctrobots.org/minutes/2006/mar06.html ... that should read Trevor (my son). Here's what he looked like back then:
http://www.ctrobots.org/pics/2006/mar06-14.JPG ... I haven't changed, of course, but Trev's a lot bigger now ;-)