Then he found the very affordable 28BYJ-48 stepper motor. After some experimenting, he came up with a smooth moving robot arm with four steppers controlled from an Arduino Mega and A4988 stepper ...

There are four poles to each of these coils, and they plug right into a standard stepper driver, so to control this board all you need is a basic Arduino and a motor shield.

Arduino has been used to control a stepper motor driver a MIDI interface, scanner parts and basic keyboard to great effect, check out the video below to learn more. Watch this video on YouTube.