Video: <a href="http://www.youtube.com/watch?v=ehno85yI-sA" rel="nofollow">http://www.youtube.com/watch?v=ehno85yI-sA</a><p>"Towards the end of the video, the robot conceptualizes itself, determining its own structure using sensors built into each joint. Then, it thinks of different ways that it might move - walk - from place to place. Starfish can also sense damage to any of its legs or joints, and then compensate."
<a href="http://ccsl.mae.cornell.edu/research/selfmodels/" rel="nofollow">http://ccsl.mae.cornell.edu/research/selfmodels/</a><p>link to actual research page.<p>The gait looks more like a limp. The idea is neat, but it needs more work with their gait--even undamaged.