robotmaker
i just got my omnibot 2000 from JOSH while back and got a chance to take him apart and start the modding 
first i am working on the base,i am adding tracks with floor inserts,so that he can move on tile floors and carpets.,these tracks are easy to use and add on and can move up to 60 lbs,will be posting photos ,parts lists in a few days
software using will be my AI SOFTWARE
i guess will tell you the tracks i am using its from VEX ROBOTICS
vex robotic tracks now if using a floor and carpet or rugs or both
for up to 60 lb load need 4 motors if 30 lb 2 motors
vex robotic high torque motors
plus frame kit and few parts whats great about this design if you dont want tracks add wheels very simple change so you are looking at a universal wheel design add-on latter are optical feedback this design fits perfect without many changes to omnibot body i have tried lynxmotion tracks,but lot of changes then need to make a track base not universal and not great on floors,i have both track designs
NOT shore yet havent tested them for arms you dont need a fast motor unless he is throwing a baseball
but is using a 10 rpm motor and gear box is 30-1 ,so its .333 rpm and at 750 oz stall torque at 30-1 is 22500 oz then divide by 16 oz its 1406 lbs its stall torque,i can easy change it for a faster motor with faster speed and lower torque the sell many if the speed doesnt work good .
WHAT great about using this design then a servo gear box it hold the arm at any position and uses so much less in current stall current is 1 amp,cant find that on the best high torque servo its mostly 3 amps stall or more
I was talking about the track design. If you look at the front view, you have the middle steel structure, than a gray plastic piece (looks like an inch or so wide), then the tread with steel beam and the rollers. I circled the parts in yellow in the picture.
oh.they came with the vex robotics kit they dont sell any more,they have other metal pieces that can take the place of it,under frame parts
its like this one they sell and in many sizes
or this oneIf you do a search on ebay for vexplorer you can get the one i have for near $60 complete only need to change the wheels to a track design or make one using the parts in my parts list only it wont have the plastic corner pieces.
but just extend the cross piece out it more to connect to the other cross beam also the sell corner gussets ,that might work too
They dont make the vexplorer design any more
I would like a gear arrangement like that if I could get 90 degrees in about 1 second. That would work for me since I'm not really lifting anything but its own arms. I know you have plans to do more with yours. (sure not shore)
check the precision motors they have at servocity,many types of RPM output
wont be able to post any updates,since going on my last trip for work till end of march ,after will have full time to work on my robot projects
BE comming home in a few days and will be adding photos as i make more changes to my design.