diff --git a/boxes/robot.py b/boxes/robot.py
new file mode 100644
index 0000000..bfbbb2f
--- /dev/null
+++ b/boxes/robot.py
@@ -0,0 +1,187 @@
+import boxes
+
+__all__ = [
+    "RobotArg",
+    "RobotArmMM",
+    "RobotArmMm",
+    "RobotArmUU",
+    "RobotArmUu",
+    "RobotArmMu",
+]
+
+class RobotArg:
+
+    def __init__(self, includenone=False):
+        self.robotarms = [
+            (name, globals()[name].__doc__[23:]) for name in __all__
+            if name.startswith("RobotArm")]
+        if includenone:
+            self.robotarms[0:0] = [("none", "")]
+
+    def __call__(self, arg):
+        return str(arg)
+
+    def choices(self):
+        return [name for name, descr in self.robotarms]
+
+    def html(self, name, default):
+        options = "\n".join(
+            ("""<option value="%s"%s>%s %s</option>""" %
+             (name, ' selected="selected"' if name == default else "",
+              name, descr) for name, descr in self.robotarms))
+        return """<select name="%s" size="1">\n%s</select>\n""" % (name, options)
+
+
+class _RobotArm:
+
+    def __init__(self, boxes, servo, servo2=None):
+        self.boxes = boxes
+        self.servo = servo
+        self.servo2 = servo2 or servo
+
+    def __getattr__(self, name):
+        """Hack for easy access of Boxes methods"""
+        return getattr(self.boxes, name)
+
+class RobotArmMM(_RobotArm):
+    """Robot arm segment with two parallel servos"""
+    def __call__(self, length, move=None):
+        t = self.thickness
+        w = self.servo.height
+        l = max(self.servo.length * 2, length + 2*self.servo.axle_pos)
+
+        th = max(2 * t + l, 2*w + 4*t + self.spacing)
+        tw = 5 * (w + 2*self.thickness + self.spacing)
+
+        if self.move(tw, th, move, True):
+            return
+
+        self.rectangularWall(w, l, "FfFf", callback=[
+            lambda:self.servo.top(w/2), None,
+            lambda:self.servo.top(w/2)], move="right")
+        self.rectangularWall(w, l, "FfFf", callback=[
+            lambda:self.servo.bottom(w/2), None,
+            lambda:self.servo.bottom(w/2)], move="right")
+        self.rectangularWall(w, l, "FFFF", move="right")
+        self.rectangularWall(w, l, "FFFF", move="right")
+        self.rectangularWall(w, w, "ffff", callback=[
+            lambda:self.servo.front(w/2)], move="up")
+        self.rectangularWall(w, w, "ffff", callback=[
+            lambda:self.servo.front(w/2)], move="")
+
+        self.move(tw, th, move)
+
+class RobotArmMm(_RobotArm):
+    """Robot arm segment with two orthogonal servos"""
+    def __call__(self, length, move=None):
+        t = self.thickness
+        w = self.servo.height
+        w2 = self.servo2.height
+        l = max(self.servo.length * 2, length + 2*self.servo.axle_pos)
+
+        th = max(2 * self.thickness + l, w + w2 + 4*t + self.spacing)
+        tw = 5 * (max(w, w2) + 2*self.thickness + self.spacing)
+
+        if self.move(tw, th, move, True):
+            return
+
+        self.rectangularWall(w2, l, "FfFf", callback=[
+            lambda:self.servo.top(w2/2)], move="right")
+        self.rectangularWall(w2, l, "FfFf", callback=[
+            lambda:self.servo.bottom(w2/2)], move="right")
+        self.rectangularWall(w, l, "FFFF", callback=[
+            None, None, lambda:self.servo2.top(w/2)], move="right")
+        self.rectangularWall(w, l, "FFFF", callback=[
+            None, None, lambda:self.servo2.bottom(w/2)], move="right")
+        self.rectangularWall(w2, w, "ffff", callback=[
+            lambda:self.servo.front(w2/2)], move="up")
+        self.rectangularWall(w, w2, "ffff", callback=[
+            lambda:self.servo2.front(w/2)], move="")
+
+        self.move(tw, th, move)
+
+class RobotArmUU(_RobotArm):
+    """Robot arm segment with two parallel sets of hinge knuckles"""
+    def __call__(self, length, move=None):
+        t = self.thickness
+        w = self.servo.hinge_width()
+        l = max(4*self.thickness, length - 2*t - 2*self.servo.height)
+
+        th = max(2 * self.servo._edges["m"].spacing() + l,
+                 2*w + 4*t + self.spacing)
+        tw = 5 * (w + 2*self.thickness + self.spacing)
+
+        if self.move(tw, th, move, True):
+            return
+
+        iw = (0, 3, 4, 7)
+        e = self.servo.edges
+        self.rectangularWall(w, l, e("mFmF"), ignore_widths=iw, move="right")
+        self.rectangularWall(w, l, e("MFMF"), ignore_widths=iw, move="right")
+        self.rectangularWall(w, l, "FfFf", move="right")
+        self.rectangularWall(w, l, "FfFf", move="right")
+        self.rectangularWall(w, w, "ffff", callback=[
+            lambda: self.hole(w/2, w/2, 6)], move="up")
+        self.rectangularWall(w, w, "ffff", callback=[
+            lambda: self.hole(w/2, w/2, 6)], move="")
+
+        self.move(tw, th, move)
+
+class RobotArmUu(_RobotArm):
+    """Robot arm segment with two orthogonal sets of hinge knuckles"""
+    def __call__(self, length, move=None):
+        t = self.thickness
+        w = self.servo.hinge_width()
+        w2 = self.servo2.hinge_width()
+        l = max(4*self.thickness, length - 2*t - 2*self.servo.height)
+
+        th = max(self.thickness + self.servo._edges["m"].spacing() + l,
+                 2*w + self.thickness + 4 * self.edges["f"].spacing())
+        tw = 5 * (w + 2*self.thickness + self.spacing)
+
+        if self.move(tw, th, move, True):
+            return
+        iw = (3, 4)
+        e = self.servo.edges
+        self.rectangularWall(w2, l, e("nfFf"), move="right")
+        self.rectangularWall(w2, l, e("NfFf"), move="right")
+        self.rectangularWall(w, l, e("FFmF"), ignore_widths=iw, move="right")
+        self.rectangularWall(w, l, e("FFMF"), ignore_widths=iw, move="right")
+        self.rectangularWall(w2, w, "ffff", callback=[
+                        lambda: self.hole(w2/2, w/2, 6)], move="up")
+        self.rectangularWall(w2, w, "ffff", callback=[
+                        lambda: self.hole(w2/2, w/2, 6)], move="")
+
+        self.move(tw, th, move)
+
+class RobotArmMu(_RobotArm):
+    """Robot arm segment with a servo and an orthogonal sets of hinge knuckles"""
+    def __call__(self, length, move=None):
+        t = self.thickness
+        w = self.servo.height
+        w2 = self.servo2.hinge_width()
+        l = max(self.servo.length, length + self.servo.axle_pos - self.servo.height - t)
+
+        th = max(t + l + self.servo2._edges["m"].spacing(),
+                 w + w2 + self.thickness + 4 * self.edges["f"].spacing())
+        tw = 5 * (w + 2*self.thickness + self.spacing)
+
+        if self.move(tw, th, move, True):
+            return
+
+        e = self.servo2.edges
+        iw = (3, 4)
+        self.rectangularWall(w2, l, "FfFf", callback=[
+            lambda:self.servo.top(w2/2)], move="right")
+        self.rectangularWall(w2, l, "FfFf", callback=[
+            lambda:self.servo.bottom(w2/2)], move="right")
+        self.rectangularWall(w, l, e("FFmF"), ignore_widths=iw, move="right")
+        self.rectangularWall(w, l, e("FFMF"), ignore_widths=iw, move="right")
+        self.rectangularWall(w2, w, "ffff", callback=[
+            lambda:self.servo.front(w2/2)], move="up")
+        self.rectangularWall(w2, w, "ffff", callback=[
+            lambda: self.hole(w2/2, w/2, 6)], move="")
+
+        self.move(tw, th, move)
+
+# class RobotArmMU(_RobotArm):
diff --git a/boxes/servos.py b/boxes/servos.py
new file mode 100644
index 0000000..4a716da
--- /dev/null
+++ b/boxes/servos.py
@@ -0,0 +1,120 @@
+import boxes.vectors
+import math
+
+class EyeEdge(boxes.edges.FingerHoleEdge):
+
+    char = "m"
+
+    def __init__(self, boxes, servo, fingerHoles=None, driven=False,
+                 outset=False, **kw):
+        self.servo = servo
+        self.outset = outset
+        self.driven = driven
+        super(EyeEdge, self).__init__(boxes, fingerHoles, **kw)
+
+    def __call__(self, length, bedBolts=None, bedBoltSettings=None, **kw):
+        t = self.fingerHoles.settings.thickness
+        dist = self.fingerHoles.settings.edge_width
+
+        pos_axle = self.servo.hinge_depth()
+        self.ctx.save()
+        self.hole(length/2.0, -pos_axle,
+                  self.servo.axle/2.0 if self.driven else
+                  self.servo.servo_axle/2.0)
+        if self.outset:
+            self.fingerHoles(t, self.thickness / 2, length-2*t, 0)
+        else:
+            self.fingerHoles(0, self.thickness / 2, length, 0)
+        self.ctx.restore()
+        r = self.servo.servo_axle * 2
+        a, l = boxes.vectors.tangent(length/2, pos_axle, r)
+        angle = math.degrees(a)
+        self.polyline(0, -angle, l, (2*angle, r), l, -angle, 0)
+
+    def startwidth(self):
+        return self.fingerHoles.settings.thickness
+
+    def margin(self):
+        return self.servo.hinge_depth() + self.fingerHoles.settings.thickness + self.servo.servo_axle * 2
+
+def buildEdges(boxes, servo, chars="mMnN"):
+    result = {}
+    for n, char in enumerate(chars):
+        e = EyeEdge(boxes, servo, outset=(n<2), driven=(n % 2))
+        e.char = char
+        result[char] = e
+    return result
+
+class ServoArg:
+
+    def __init__(self, includenone=False):
+        self.servos = ["Servo9g"]
+        if includenone:
+            self.robotarms[0:0] = ["none"]
+
+    def __call__(self, arg):
+        return str(arg)
+
+    def choices(self):
+        return [name for name, descr in self.robotarms]
+
+    def html(self, name, default):
+        options = "\n".join(
+            ("""<option value="%s"%s>%s</option>""" %
+             (name, ' selected="selected"' if name == default else "",
+              name) for name in self.servos))
+        return """<select name="%s" size="1">\n%s</select>\n""" % (name, options)
+
+
+class Servo:
+    def __init__(self, boxes, axle=3):
+        self.boxes = boxes
+        self.axle = axle
+        self._edges = buildEdges(boxes, self)
+
+    def edges(self, edges):
+        return [self._edges.get(e, e) for e in edges]
+
+class Servo9g(Servo):
+
+    height = 22.5
+    length = 28.0 # one tab in the wall
+    width = 12.0
+    axle_pos = 6.0
+    servo_axle = 4.6 # 6.9 for servo arm
+    
+    def top(self, x=0.0, y=0.0, angle=90.0):
+        self.boxes.moveTo(x, y, angle)
+        self.boxes.hole(6, 0, 6)
+        self.boxes.hole(12, 0, 3)
+
+    def bottom(self, x=0.0, y=0.0, angle=90.0):
+        self.boxes.moveTo(x, y, angle)
+        self.boxes.hole(6, 0, self.axle/2.0)
+
+    def front(self, x=0.0, y=0.0, angle=90.0):
+        self.boxes.moveTo(x, y, angle)
+        self.boxes.rectangularHole(5.4, 0, 2.4, 12)
+        self.boxes.rectangularHole(17, 0, 4, 16)
+
+    def hinge_width(self):
+        return self.height + self.boxes.thickness + 4.5
+
+    def hinge_depth(self):
+        return self.height # XXX
+
+class Servo9gt(Servo9g):
+    height = 35
+
+    def top(self, x=0.0, y=0.0, angle=90.0):
+        self.boxes.moveTo(x, y, angle)
+        self.boxes.hole(6, 0, 6)
+        self.boxes.hole(12, 0, 5)
+
+    def bottom(self, x=0.0, y=0.0, angle=90.0):
+        self.boxes.moveTo(x, y, angle)
+        self.boxes.hole(6, 0, self.axle)
+
+    def front(self, x=0.0, y=0.0, angle=90.0):
+        self.boxes.moveTo(x, y, angle)
+        self.boxes.rectangularHole(5.4, 0, 2.4, 12)