IEEE Spectrum publishes an essay by a cofounder of Agility Robotics on the launch of Digit 5.
The company, spun out of a robotics lab at Oregon State University in 2015, designed Digit 5 to be the first humanoid robot that can safely and economically do useful work at scale.
Source: spectrum.ieee.org, reported 10-19. https://spectrum.ieee.org/agility-robotics-digit-5-redesign