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The word "waldo" and the basic idea are taken from the Robert Heinlein story of the same name, published in 1942. See the entry for waldo. Take a look at the T52 Enryu Support Dragon Hyper Rescue Robot, a telefactoring device big enough to tear the doors off cars.
Also, compare with the dolphin's hands by Larry Niven from his 1967 short story Handicap and the cyborg dolphin by William Gibson from his 1981 short story Johnny Mnemonic.
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Science Fiction
Timeline
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DARPA Wants 'Large Bio-Mechanical Space Structures'
'These are your rudimentary seed packages... Some will combine in place to form more complicated structures.'
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