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"People ask me how I do research for my science fiction. The answer is, I never do any research. I just enjoy reading the stuff, and some of it sticks in my mind and fits into the stories."
- Frederik Pohl

Silencer-Padding  
  Robots need to have special padding on the bottoms of their lower limbs, so they don't clank as they walk.  

Robert F-R badly needed some maintenance work.

Robert lowered his jaw to communicate the mechanical equivalent of a smile. "I may be the only free robot in existence, but I still have certain basic needs. Lubricant for instance, a power pile reactivation, and," he said bringing his foot up to indicate his silencer-padding, "I even need soles."
Technovelgy from Robot Unwanted, by Daniel Keyes.
Published by Other Worlds in 1952
Additional resources -

Compare to the rubber soled feet from Reason (1941) by Isaac Asimov and the rubber hoof from The Warlock in Spite of Himself (1969) by Christopher Stasheff.

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Additional resources:
  More Ideas and Technology from Robot Unwanted
  More Ideas and Technology by Daniel Keyes
  Tech news articles related to Robot Unwanted
  Tech news articles related to works by Daniel Keyes

Articles related to Robotics
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Challenges Of Two-Armed Robots

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