Hi @Sean, thanks for joining our page and for sharing this awesome example of DYNAMIXEL in animatronics. I think Jeff looks great as he is!
Those servo-horn frame linkages attached to the X-series units on top look super interesting- it looks like they use the back idlers of the servos to stabilize the joint & possibly support higher load.
I wish we could see Jeff moving in this post, maybe next time. Thanks again for sharing this awesome application to inspire us all!