> At high impulses deformations and elasticity throw the kinematics

Sure. Yet evolution has achieved astonishing kinematics with all manner of deformation and elasticity inherent to the materials, and also constantly changing physical properties, using low resolution data. We cannot build permanently lash free mechanical devices at reasonable cost and reasonable size/weight. Eventually, the answer must be pervasive real-time compensation throughout the kinematic model.

> Modeling the deformations and the elasticity is a computational no no.

Why? Nervous systems do this. That's why you can change your shoes and still walk upright.