CHORG robotic arm

Hi everybody,
I built a robotic arm fitted with a 4dof gripper a camera, slip and touch sensors:
http://larryo.org/work/robotics/robotics_hardware.html
I am also developing a software (chorg) to process real-time video and provide adaptive control for the arm. So what do you think of it?
Larry
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Cool looking arm! Slick!

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