OK, time to throw down a gauntlet here. (Fat lot of good it'll do, but whatever.)
Challenge to the OP: Get some mechanical part of your goddamned robot working. Anything. Like, say, the fingers in one hand, or the arm. Anything that you can show to us working, picking up a weight. Repeat the action at least 15 times. Show us that your theories and techniques actually work.
In the meantime: stop posting. Nada. Zip. Zilch. Zero. Just STFU.
It'll be good for you, let you focus all your time and energy on getting 'er done.
Good for you, good for us.
How 'bout it?
We'll be waiting ...