Fair enough. You seem to be more knowledgeable about this than me. I get that its an inherent physics thing though I just meant that, theoretically at least, you could simply brute force grip strength in a way that you can’t brute force dexterity - at which point it becomes sensible to optimize for dexterity. I guess we’re not as close to that point as I assumed though.

Yes, but also this is about robotics so that kind of all goes out the window to some extent. You can just have more powerful actuators to increase grip strength or whatnot. That said, biologically, I’m totally with you on the four arm thing.