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I watched the 'low resolution' video you refer to. It shows cassette Ferris-wheel shunting back & forth with great torque! This early attempt at robotics would have been hazardous to work on (as all mechanical robotics can be hazardous to humans), this one designed by Ampex (in Silicon Valley)(not renown for mechanical engineering), so one sees at one point in video they use a lot of off-the-shelf Ledex Rotary Solenoids doing their thing, making a lot of noise..
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