Attached Link: http://www.rbtwhiz.com/rbtwhiz_ERC.html

just to expand on the whole easypose discussion. easypose developed by Ajax was based on the discoveries of Rob Whisenant and Nurd explained here: which was the basis of JCMs and other ERC tricks. Easypose is simply a chain of Joint Controlled Joints each being triggered by the joint ahead of it in line. Easypose can be set up by hand, in the same manner as outlined in the link above but Easypose Underground simplifies the process a huge amount, as well as providing an extremely quick solution for setting up any kind of ERC.