Arduino-based Robotic Manipulator

This is my first prototype of a robotic manipulator. Until now, I've really been focusing on the physic aspect of the arm so I haven't been working a lot on the program aspect. The current goal of this project is to create a solid platform to reproduce every-day actions and develop my programming aptitudes. The arm has 4 degrees of freedom: Bicep rotation, Elbow, Wrist and Gripper. I still haven't worked on the shoulder but it will come one day ! It's really basic but I'm surprised at what it can accomplish for the time I've spent on this project ! Btw, this is my first instructable ! Enjoy :D

Link to a demo of a basic sequence :