I still need to tune the joint angles and reduce the error in movement to the required angle. Its very interesting to watch Robbie move his arm and avoid obstacle's in his way.
The next challenge is to recognize a object and pick it up move it. That will require a Kinect but Robbie’s kinect is too low to be of use. So I stuck one in his head a Asus camera would be better as it's smaller but the jinect was only $30 against $300 for the Asus. It makes him look strange once every thing is working we will have to do a redesign not just on the head but also the arms.