Googling around I find some recent stuff. It seems to have started being on people’s minds in the past five years only. A lot of complicated articulated arms and inputs. I am only more convinced that there is arbitrage here... a very simple articulation mechanism, something akin to what hello robot did vs willow garage, would be totally new. And you don’t have to replicate perfectly the performance of humans because it’s a sliding scale, you could use the robot to downsize at first, following it with a small human team.