R504       *Do not modify actuators unless explicitly allowed. The integral mechanical and electrical system of any motor or servo must not be modified. Motors and servos used on the ROBOT shall not be modified in any way, except as follows:

R503       *ROBOTS are limited to a total of 8 motors and 10 servos. A ROBOT may not have more than 8 motors and 10 servos from the allowable actuator lists per R501 and R502 for all MECHANISMS used in all configurations.

R505       *All actuators must be controlled and powered through approved devices. With the exception of servos, fans, or motors integral to sensors of COTS computing devices permitted in R501, all actuator control signals must originate from a power regulating device. The only power regulating devices for actuators permitted on the ROBOT are:

R502       *Allowable servos. Servo actuators must meet the requirements below. Servos must be compatible with the power regulation devices they are ultimately used with (per R505) and may include additional servo position output interfaces (e.g., 4th Wire Position Feedback).