This is a picture of our lower joint arm drive. It uses two fisher price motor coupled together to drive a sprocket along a chain path. This is the official 2005 robot, and the one seen at the UTC scrimmage was the secondary design. Hopefully, there will be a full view picture up tonight so you can see it in all its glory…including the transmissions…
nice drive, lots of wires though …
Just Wait Till you See it move 
It’s a site to see!