Abstract: A system for providing self-alignment of an appendage or other movable part comprising an input device, a self-aligning clutch, a processor, a feedback sensor, and a timer. The input device drives a set of gears including a partial output gear. The self-aligning clutch is coupled to the output gear and moves the appendage in response to the rotational motion of the output gear. The self-aligning clutch includes a flexible link for transferring energy from the output gear to the appendage and for maintaining the relative alignment between the appendage and the output gear. When an obstruction prevents the appendage from moving to the desired position, the flexible link stores energy. After the obstruction is removed, the flexible link releases the stored energy to move the appendage so that the relative alignment between the output gear and the appendage is maintained. The self-aligning clutch prevents damage to the servo when an external force is applied to the appendage.