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I wonder how powerful small computers will be by then. Will we be able to fit a computer as powerful as the human brain in the small frame of a robot? If not, an intermediate step might be to have a remote supercomputer do most of the thinking "in the cloud."
The other big hurdle is power. I've read that ASIMO's battery only lasts 30 minutes to an hour, which is far from ideal. Hopefully some of the recent battery developments we've been hearing so much about will make it to market in some usable form.