Lift:  Two CIM Motors on a high torque gear box. The spool on the end of the gear box connects to the lift via a steel cord. The lift itself is made out of a recycled garage lift system (rails, rollers, brackets, and pulleys).  A pnumatic cylinder makes the robot able to grab the totes; as it closes, it squeezes the totes or trashcan.  This portion can fold upwards for easy storage. 

Base: An aluminum rectangular tube frame, powered by 4 CIM motors on high speed gear boxes.  Rides on 8 inch Meccanum wheels.