The Ir Armbot is a simple robot arm driven by 2 standard servos but controlled by an ir remote , sending serial information via an ir diod to a reciever that uses a stamp 1 to decode the signal. The code generator is also an stamp 1 , built in the remote. It took me about 48 hours for both hardware and software the armbot + remote costs approximately $120. Used parts : 2 9V batteries 1 6V batterie pack for the servos 3 switches 6 buttons , but 4 for the moment 1 stamp1 microcomputer 2 hitec servos HS300 2 small plastic boxes 1 Gripper 1 ir diod 1 ir reciever sharp GP1U5 any questions or suggestions email me at christian.vlaskowits@descom.se