here's a flickr set for this bot http://www.flickr.com/photos/sixmilliondollardan/sets/72157616240288122/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. Spring 2008. 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.DOFS: waist yaw 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 1yes 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.