Great HOW TO by powderly on Instructables “The following is Instructions for assembling the first generation robot arm that my wife and I are developing for the Eyebeam Atelier AiR program as part of an animatronic self-portrait. This arm includes 4 degrees-of-freedom (DOF) from the wrist to the shoulder, runs at less than 20 W and is about 12 ounces. I am currently working on V2 with limit and home switches for each DOF, a single DOF hand and adding another 2 DOF to the shoulder. Motor control units for the arm are also currently being developed…” Link.
Make a humanoid robot arm