Pneumatic Automata by Hero of Alexandria

One of the earliest documented automata makers was Hero of Alexandria. There is now an online English translation of his work on pneumatics. Be sure to check out chapter 37 in which he describes his method to open temple doors by fire on an altar. Clever.

Here's the online edition of The Pneumatics of Hero of Alexandria

You might be able to find a used printed copy of The Pneumatics of Hero of Alexandria at Amazon.com.