Automatic diaper changer

RFID chip / sensor onboard the diaper
Automatic de-"velcrowing" of the diaper (hold baby over a trash can, loosen up the diaper, diaper falls off)
Wash the baby with running water.
Insert baby into new diaper (have diaper already "closed" or whatever; use elastic strings to tighten it up to the baby's configuration).
Grabbing the baby in the first place?
- Need to be able to orient the arm and hand so as to grab the baby.
  - Arm requirement: degrees of freedom of motion, strength rating, ...
  - Software requirements to find the baby and pick up smoothly? (Assume baby is in a Skinner box.)