@Zxen This may be just the servo you need. No hardware hacking required. http://www.adafruit.com/products/1404

Thanks! So much cheaper than dynamixel!

I'm pretty sure all servos of the same make and model react to PWM signals in exactly the same way.

Do you think that the PWM signals from an analog feedback servo would work with any servo? I guess the gears in each servo model make each degrees of rotation:PWM pulses ratio different, right?

Yes any servo would work, it is simpley the center pin of the servo's potentiometer broken out. One thing to keep in mind is that the voltage from that pin could possibly be higher than than an EZ-B analog pin can handle, but you could further scale the signal down with a resistor based voltage divider.

When using the EZ-B microprocessor when it arrives, I intended to use separate power lines for all the servos to be on the safe side. I have a 46a 7.5v transformer because I'll be using a few 40kg.cm servos that require 9a when under load.

I thought I would need to use a different microprocessor for the voodoo feedback programming, but it would be great if the ez-b could handle it. I figured the script could simply be pasted onto the ez-b's CPU afterwards, but this would not allow me to see the the public robot move at the same time as the voodoo doll in real time. I intend to use all 24 channels.

If I did use adafruit's feedback servos, can anyone tell me how to plug them in so I can see my ez-b robot react in real time? Step by Step Images would be best if anyone is willing to draw the answer. I'm sure many people would benefit. I'd be so grateful - I get confused with lots of electronic terminology.