No, compliant mechanisms are important but the real gap in Robotics is perception (and no perception is not just Computer Vision).

There is such an insane amount of information richness in mammals and sensor specialization:

- Merkel discs

- Ruffini corpuscles

- Meissner corpuscles

- Pacinian corpuscles

- Muscle spindles

- Golgi tendon organs

- Nociceptors

And it's not the biology 101 types of sensors (in terms of variety of sources) but also the information density per square millimetre. It is orders of magnitude above anything that has ever been created with technology.

Once we leap above just Visual Servoing and start reaching sensory density and feature parity with human skin, joints, muscle, feet/hands, then we may start to see real breakthroughs.