here's a flickr set for this bot
the zip file is a bunch of solidworks files. SW2006 i think. but i can't remember exactly. i will try to find my parts spreadsheet and toss that up as well.
I designed and built a simple torso for a Go playing(manipulation driven, not strategy) robot for Prof Rod Brooks at MIT CSAIL. Postdoc Eduardo Torres-Jara works on the motor drivers, control, and hand design. Josh Kargas did some of the electronics mounting and routing.
Robot has 6 Series Elastic Actuator degrees of freedom. But waist is locked out and shoulder joints have the spring shorted out.
shoulder x 2
elbow x 2
wrist vertical axis x 1
wrist rotation axis x 1
neck pitch x 1
head tilt x 1
head pan x 1
yes analog sensors. potentiometers are awesome.
well, it's pretty safe to say this is a little less than complete documentation and would take a bit to recreate but i thought i would through it up in case anyone wanted to look at it. i will try to answer questions about it if anyone is interested.