Dynamixel Robo Sorter 

Depending on the size of robot you have in mind. There's all sorts of videos out there showing small bipedal bots playing soccer or dancing, along with crab and spider type bots, mostly built with the AX12. Have a look through the Dynamixel catalog, with close attention to the torque and speed. Also, the newer MX series and some others use a much more precise magnetic position sensor that doesn't wear out.

Funny you should mention that... I built one, but it's acting a bit oddly. I hope to have a video out soon. I moved to a new home just after building the new arm and I'm still settling in.

@@Corgitronics awesome. I was thinking of useing a reprap helios as a base for pick and place and sort for organizing my reloading brass.

@@Corgitronics also check out this guys actuator. I was considering building a scara arm or a delta with them. www.thingiverse.com/thing:3167952