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Something I thought of doing was using the wires and connectors from a pair of old cordless phone batteries to make a polarized (will only plug in one way) connector.
I work at a Radio Shmack, and cut them off to give hobby folks all the time.
The way I would use them is with a lead cut from a resistor or similar electronic component.
The lead, cut into two pieces for the proper length and inserted into opposite holes of a pair of common cordless phone battery connectors makes for a very small polarized connector that can be tucked under the body or simply secured elsewhere.
If done carefully, one could secure the pins with glue or epoxy to prevent them from pulling out when unplugging.
The other connector wires could be soldered to the charge tabs, or lengthened to run into the controller as an additional charging connector.
If you ask a Radio Shack Store associate and they are even close to being cool, they will hand you a pile of old cordless phone batteries for you to cut the leads and connectors off of for yourself.
After doing so you can give the batteries themselves back, as they recycle them.
When I do my articulation project I will likely be using this method and will post pics at that time.
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