I aimed to make my quadruped robot have a cleaner look, with most of the components on the inside. Still working on getting the servo controller to work with the raspberry pi; I'l post a video and source code when it can walk. Blog Post: http://nrrillinthas.blogspot.com/2014/06/gizmo-20.htmlThe back end of it has two holes, one to power the pi and one to power the motor controller. The top just slides onto the base, but for me its a bit delicate. I recommend epoxy to keep the elbow parts from wiggling (that's what the grey stuff is in the pictures). Feel free to comment or message me with questions.