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Humanity creates metal-free robot; immediately shoves up ass.
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Not exactly metal-free, I’d guess. Free of ferromagnetic materials, certainly, and not using magnetic actuators (hence the piezo).
They mentioned attempting to use compressed air, but having accuracy problems with the actuators. Why did not they use incompressible fluids, effectively having a hydraulic system? Oil or even saline (bio-friendly but corrosive to many metals) would work nicely.
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Why must you be the screen door on my submarine? 
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