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ASIMO might be the size and shape of an 8-year old boy, but he creeps like he's about to stab somebody. Geezus, they should put a little more cool in his step.
BEAM seems to make real sense. Yet, people are hardwired to respond to people, and to be wary of most everything else. Even if a maggot bot can walk your dog better than the Pinocchio bot, people are going to go for Pinocchio. Maybe we will get used to odd shaped bots performing tasks, but I think there is something deep in us that is wary of non-human creatures that can do things effectively. Still, R2D2 was very cute and lovable. I think you are right about GRASP leveraging that response.