Oh wow, I didn't realize it was so big.. That explains why it took Acrobat so long to open it last night.. :P
Lemme just take a picture of that article then.. haha
Here it is (taken from CMU's readme):
(http://somchaya.intuios.com/temp/robot2.jpg)
The full article, if you're interested, is here: http://somchaya.intuios.com/temp/robot.jpg (http://somchaya.intuios.com/temp/robot.jpg). I didn't link the picture directly because the forum shrinks it down and you won't be able to read the text. So if you want to read it, open the picture in your browser :)