the proper kinematics makes both the mechanical design and the control systems simpler, including leeway in choosing the actuators. you’re right in that we don’

the proper kinematics makes both the mechanical design and the control systems simpler, including leeway in choosing the actuators. you’re right in that we don’t have muscle-like fast-acting axial actuators with pliable multi-insertion endpoints, but you don’t need to exactly mimic a human leg (which is effectively impossible right now) to apply these principles.