Studying the effect of large scale outside cash injections into a community is not a remotely plausible proxy for studying the economic effects of a redistribution scheme.
As to your claim of rampant poverty, it is true. However if we surrender our welfare to automation, humans will all be in poverty compared to the control exerted over us by the machines, and what we could have achieved if we remained free. If we continue to strive for personal independence, some of us will remain free. If we give in to subsistence dependence, we as a species will be enslaved.
On a larger scale, I expect that if half the population didn't/couldn't work, but was allowed to live comfortably anyway, there would be a considerable increase in experimental creativity and social functions. We'd all essentially go out and find things to do together and alone.