|Abstract||In his 1923 play R.U.R.: Rossum s Universal Robots, Karel Capek coined robot as a derivative of the Czech robota (forced labor). Limited to work too tedious or dangerous for humans, today s robots weld parts on assembly lines, inspect nuclear plants, and explore other planets. Generally, robots are still far from achieving their fictional counterparts intelligence and flexibility. Humanoid robotics labs worldwide are working on creating robots that are one step closer to science fiction s androids. Building a humanlike robot is a formidable engineering task requiring a combination of mechanical, electrical, and software engineering; computer architecture; and realtime control. In 1993, we began a project aimed at constructing a humanoid robot for use in..|
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