A system for a robotic surgical instrument, the system comprising: a control circuit; a first motor and a second motor, both communicatively coupled to the control circuit; a first articulation arm communicatively coupled to the first motor; a second articulation arm communicatively coupled to the second motor; and an end effector coupled to the first articulation arm via a first hinge and the second articulation arm via a second hinge; wherein: the control circuit is configured to cause the first motor to apply a first force to the first articulation arm; the control circuit is configured to cause the second motor to apply a second force to the second articulation arm, wherein the second force is antagonistic to the first force such that the first and second forces apply counteracting forces at the end effector; and the first and second forces cause the end effector to articulate via the first and second hinges, the system further comprising an articulation pivot coupled to the end effector, wherein the end effector is further configured to articulate about the articulation pivot, characterized in that the articulation pivot is positioned off of a center axis running longitudinally along a longitudinal tool axis in between and equidistant from at least a portion of the first and second articulation arms. a control circuit; a first motor and a second motor, both communicatively coupled to the control circuit; a first articulation arm communicatively coupled to the first motor; a second articulation arm communicatively coupled to the second motor; and an end effector coupled to the first articulation arm via a first hinge and the second articulation arm via a second hinge; wherein: the control circuit is configured to cause the first motor to apply a first force to the first articulation arm; the control circuit is configured to cause the second motor to apply a second force to the second articulation arm, wherein the second force is antagonistic to the first force such that the first and second forces apply counteracting forces at the end effector; and the first and second forces cause the end effector to articulate via the first and second hinges, the system further comprising an articulation pivot coupled to the end effector, wherein the end effector is further configured to articulate about the articulation pivot, characterized in that the articulation pivot is positioned off of a center axis running longitudinally along a longitudinal tool axis in between and equidistant from at least a portion of the first and second articulation arms. the control circuit is configured to cause the first motor to apply a first force to the first articulation arm; the control circuit is configured to cause the second motor to apply a second force to the second articulation arm, wherein the second force is antagonistic to the first force such that the first and second forces apply counteracting forces at the end effector; and the first and second forces cause the end effector to articulate via the first and second hinges, the system further comprising an articulation pivot coupled to the end effector, wherein the end effector is further configured to articulate about the articulation pivot, characterized in that the articulation pivot is positioned off of a center axis running longitudinally along a longitudinal tool axis in between and equidistant from at least a portion of the first and second articulation arms.