[TEE]

Originally Posted by JesseK

The beauty in this design is the coaxial sprockets on the joint at the very top. The one that hooks to the wrist can be hooked to a non-backdrive motor on the very bottom of the robot -- keep ing c.g. low while also adding another degree of control/extension. The beauty in that is that the drivers shouldn't have any extra buttons to control it since the wrist movement is limited enough that software can pre-determine its positions.

Best of luck in 2011 842!

The beauty in this design is that the wrist/elbow doesn't need to be powered