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As if Interstellar wasn't impressive enough, now director Christopher Nolan has released a behind the scenes video explaining just what went into creating the famed robot TARS. Voiced by character actor Bill Irwin, the idea, says co-writer Jonathan Nolan, came about when he wondered what would happen "if the most human characters on this ship were the non-human ones." The robots, developed in a time of war, were just "as marooned in the moment as anyone else." Nolan's inspiration was a functional piece of equipment, not unlike a camera dolly or a light stand. Hence, all those preliminary stacks of boxes—more boxes than one can imagine. Watch the video and geek out on the difficult puppeteering. Then marvel at Irwin's ability to bring such an ugly machine to life.