Metamorphosis key to creating stable walking robots - tech - 10 January 2011 - New Scientist

Metamorphosis key to creating stable walking robots: "He found that the four-legged robot was stable when programmed to walk like any of the virtual bots that had metamorphosed with time. 'Metamorphosed robots were able to continue walking even if they were randomly pushed around,' he says. However, when the four-legged robot adopted the walking style of a virtual bot with a fixed body plan, it was far more prone to falling over when pushed. Bongard thinks that's because the morphed robots had to remain balanced and on course through many body plans, so the gait they finally adopted had greater stability."