I am starting the build of a f

I am starting the build of a full size robot on a powerchair base. It will have an extendable torso, and two arms with 4 axes, and of course a head to give it a human like look. Its primary purpose is to roam the house and amuse my friends and family. The design will allow the robot to grasp items from the floor, and reach high enough to pick or place items on a countertop or table. Some day it will fetch me a beer from the fridge. Primary construction will be of 1/2" plywood, with an array of scrap automotive motors and sabertooth drivers to drive the axes. The brain will be the ez-bv4 module utilizing a serial connection to the drivers.