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In walking limbs, the range of motion and control decreases as you move away from the body. In limbs made for manipulation things are less consistent. The human shoulder is a lot like the coxa in ants, it allows a wide range of movements in multiple dimensions. The elbow only allows one dimension of motion.

Ants have many more joints after that but they are like a stiff chain, no fine control. However, ants can flex their claws and expand and retract their foot pads.