Oh, so this isn't about optimizing torque/force distribution for axes? I always thought it'll be neat if I could move an arm parallel or orthogonal to an axis, simply by setting such predetermined set of servos to exact same values, thanks to such clever cross-coupling of joints. A bit like CoreXY, but requiring actual maths to set up, but computationally cheap to use.<p>When us humans animate, don't we tend to reveal such type of optimization that we can just add power to limbs to translate object, rather precisely, along cardinal directions as well as parallel directions, relative to our mental origin point? This is often explained as human brains being smart and doing fast IK calculations, but I doubt it.<p>But I ended out creeping out someone while trying to show how <i>I</i> can easily mouse-drag my wrist joint parallel to screen coordinates, so in cases above didn't apply to most, just disregard :p