We are half way through our Fall semester and one quarter through our project. Above is our manipulator model. Most notably, we have decided to incorporate a differential gear box for joint 1/2 and 5/6. This should allow our manipulator to have the torque of two servos for each of the four respective links, while only using two servos per joint pairing (i.e., one servo per joint). Our meeting on 12 October will produce our rough specifications. Presently, our work thereon has refined our Requirement for dexterity in the work space.