[@Aristo] That is perfect.  

[@Rebirth] It is, though you should be warned I am out of town next week and will have a delayed start until then.  
And this most certainly is not advanced.  You are free to put in as much detail as you'd like(I mean, to a point.  I'm not reading a thesis on bipedal robot mechanics from an engineering doctorate candidate, but you know), but I don't require any particular level.