Manipulator Technology: The Critical Element of Useful Autonomous "Working" Machines

The structure and characteristics of mobile autonomous robots which can perform useful work are discussed. The objective of the discussion is to assess the state of the technology particularly with regard to robot mechanization and the implementation of a ''human-like'' performance capability. Technology limitations in manipulators and locomotion are significant. If not task constrained, it appears that an anthropomorphic autonomous robot would likely be much larger physically and an order of magnitude heavier than a human equivalent. Research in high-performance, lightweight manipulators, servoactuators, and power supply systems is needed.