A robotic device comprising: (a) a device body comprising: (i) a first gear (60B-2) positioned at a distal end of the device body; and (ii) a second gear (60B-2) positioned at a distal end of the device body; (b) a first arm (20/30) operably coupled to the first gear at a first shoulder joint, the first arm comprising: (i) a first upper arm segment (20A/30A) comprising a first arm motor housing and a first local control board disposed within the first arm motor housing; (ii) a first forearm segment (20B/30B); (iii) a first end effector; and (iv) at least two first arm motors (142, 143, 206, 208) disposed within the first arm motor housing and operably coupled to the first local control board, wherein the at least two first arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the first upper arm segment and the first forearm segment are colinear when the first arm is extended in the straight configuration; and (c) a second arm (20/30) operably coupled to the second gear at a second shoulder joint, the second arm comprising: (i) a second upper arm segment (20A/30A) comprising a second arm motor housing and a second local control board disposed within the second arm motor housing; (ii) a second forearm segment (20B/30B); (iii) a second end effector; and (iv) at least two second arm motors (142, 143, 206, 208) disposed within the second arm motor housing and operably coupled to the second local control board, wherein the at least two second arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the second upper arm segment and the second forearm segment are colinear when the second arm is extended in the straight configuration. (a) a device body comprising: (i) a first gear (60B-2) positioned at a distal end of the device body; and (ii) a second gear (60B-2) positioned at a distal end of the device body; (i) a first gear (60B-2) positioned at a distal end of the device body; and (ii) a second gear (60B-2) positioned at a distal end of the device body; (b) a first arm (20/30) operably coupled to the first gear at a first shoulder joint, the first arm comprising: (i) a first upper arm segment (20A/30A) comprising a first arm motor housing and a first local control board disposed within the first arm motor housing; (ii) a first forearm segment (20B/30B); (iii) a first end effector; and (iv) at least two first arm motors (142, 143, 206, 208) disposed within the first arm motor housing and operably coupled to the first local control board, wherein the at least two first arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the first upper arm segment and the first forearm segment are colinear when the first arm is extended in the straight configuration; and (i) a first upper arm segment (20A/30A) comprising a first arm motor housing and a first local control board disposed within the first arm motor housing; (ii) a first forearm segment (20B/30B); (iii) a first end effector; and (iv) at least two first arm motors (142, 143, 206, 208) disposed within the first arm motor housing and operably coupled to the first local control board, wherein the at least two first arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the first upper arm segment and the first forearm segment are colinear when the first arm is extended in the straight configuration; and wherein the at least two first arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the first upper arm segment and the first forearm segment are colinear when the first arm is extended in the straight configuration; and (c) a second arm (20/30) operably coupled to the second gear at a second shoulder joint, the second arm comprising: (i) a second upper arm segment (20A/30A) comprising a second arm motor housing and a second local control board disposed within the second arm motor housing; (ii) a second forearm segment (20B/30B); (iii) a second end effector; and (iv) at least two second arm motors (142, 143, 206, 208) disposed within the second arm motor housing and operably coupled to the second local control board, wherein the at least two second arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the second upper arm segment and the second forearm segment are colinear when the second arm is extended in the straight configuration. (i) a second upper arm segment (20A/30A) comprising a second arm motor housing and a second local control board disposed within the second arm motor housing; (ii) a second forearm segment (20B/30B); (iii) a second end effector; and (iv) at least two second arm motors (142, 143, 206, 208) disposed within the second arm motor housing and operably coupled to the second local control board, wherein the at least two second arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the second upper arm segment and the second forearm segment are colinear when the second arm is extended in the straight configuration. wherein the at least two second arm motors are arranged to actuate shoulder yaw and elbow yaw, wherein the second upper arm segment and the second forearm segment are colinear when the second arm is extended in the straight configuration.