It seems to be this one.

https://s-media-cache-ak0.pinimg.com/736x/4c/3f/84/4c3f847e9ee6e54e540335952ac6c4cb.jpg

If you watch David's tutorial on hard surface modeling, or the robot one, he shows how to make an object live and pull down the vertices in a way that they conform to the "live" object.

I'd try...

What about the robot tutorial? I was hoping to learn rigging from it.

David is my favourite online instructor ever. I attended the Gnomon School of Visual Effects and it's too bad he didn't teach...