  We outline the design and construction of novel robotic arms using machine
perception, convolutional neural networks, and symbolic AI for logical control
and affordance indexing. We describe our robotic arms built with a humanlike
mechanical configuration and aesthetic, with 28 degrees of freedom, touch
sensors, and series elastic actuators. The arms were modelled in Roodle and
Gazebo with URDF models, as well as Unity, and implement motion control
solutions for solving live games of Baccarat (the casino card game), rock paper
scissors, handshaking, and drawing. This includes live interactions with
people, incorporating both social control of the hands and facial gestures, and
physical inverse kinematics (IK) for grasping and manipulation tasks. The
resulting framework is an integral part of the Sophia 2020 alpha platform,
which is being used with ongoing research in the authors work with team AHAM,
an ANA Avatar Xprize effort towards human-AI hybrid telepresence. These results
are available to test on the broadly released Hanson Robotics Sophia 2020 robot
platform, for users to try and extend.
