This is a video shot in Decemember 2005 (read: shortly after the project began) of torso prototype 1. It's dancing the macarena, and I think it turned out pretty sweet.

Each arm has four servos -- 2 in the shoulder, 1 in the forearm, and 1 at the elbow. There is an additional pan/tilt set of servos that move the head, but it wasn't added yet at this point.