Motor skills of humans and animals are still utterly astonishing when compared to robots. AMARSi aims at a qualitative jump in robotic motor skills towards biological richness. AMARSi' objective: the experimentation and demonstration of rich motor skills on the iCub humanoid robot and on the quadruped Cheetah. Rich motor skills in robots will have a tremendous impact on our society. Dexterous and skillful motion in robots will make them more suitable for a large number of tasks. The compliant and natural movements will make them blend into everyday routines, safe and psychologically acceptable.