There is a paper on two-legged animals learning different methods of walking: https://youtu.be/pgaEE27nsQw https://youtu.be/pgaEE27nsQw (or https://youtu.be/Fah

There is a paper on two-legged animals learning different methods of walking: https://youtu.be/pgaEE27nsQw https://youtu.be/pgaEE27nsQw (or https://youtu.be/FahK9srJq10 https://youtu.be/FahK9srJq10 for the slightly better known "music video" version). Soda Constructor's wikipedia page also links to a 3D applet named "Springs World 3D", I was playing with that one back in the day.