With this tutorial (my first) you can build a robot out of Bionicle pieces with controllable arm movements.
Step 1: Put on the Arms
Attach the upper arm pieces to the torso as shown. Then, put gray connectors (picture 3) into the middle hole in each arm.
Step 2: Begin Building the Mechanism
Put the knobs and rods in the back of the torso. Next, attach the black connector pieces.
Step 3: FInish the Arm Mechanism
Finally, add the double gear-shaped stick, and connect it to both the arm and the black piece.
Step 4: Add Finishing Touches
You can now add things such as a head, forearms, etc. to make it more human-looking. Also, you can add gears in specific positions to make them move when you move the arms: a very mechanical-looking touch that also assists movement if done properly.