I have made a few modifications to Dr R.
He how has more human like arms. The shoulder joint now has 3 DOF, forward/backward, up/down and rotation. Waist still has 2DOF and head also 2DOF but now the head has pan and tilt rather than roll and tilt as the build in the instructions.
My 7yr son though I was a way cool Dad for building a robot with a Batman chest plate
I have some computer vision ideas that I want to try on him. I am going to try putting the CM-550 in to manage mode and run all code from my PC