In recent times,the field of robotics and its applications have become increasingly attractive for researchers, particularly in the context of industrial control and automation. However, the approach predominant in the design and construction of robots until not too long ago favored solidity over flexibility. The primary rationale behind this inclination was the perceived weakness associated with highly flexible robots. While flexibility is deemed acceptable for certain purposes, the tendency was to prioritize simplicity and control, leading to the widespread adoption of rigid robotic structures.The drawback of this rigid approach became apparent as achieving control in highly rigid robots posed challenges. Such robots were often heavy, voluminous, and possessed a high weight-to-tolerance ratio, resulting in substantial energy consumption. The lack of adaptability and flexibility at joints further compounded these issues. The assumption that rigidity simplifies control was a guiding principle in designing robots. However, the contemporary consensus is that a rigid-centric methodology does not meet all the control needs in robotics. There is a growing recognition of the importance of flexibility and adaptability in robotic joints. This shift in perspective is driven by the understanding that not every joint in a robot needs to be rigid. Accepting flexibility in joints is based on the assumption that simplicity in control can still be achieved without rigid constraints. In the present era, it is acknowledged that a rigid-centric approach does not provide a comprehensive solution for the diverse requirements of robotic control.The acceptance of flexibility and adaptability in robotic systems has gained momentum.