Introspective Robot Learns to Walk

Video: http://www.youtube.com/watch?v=ehno85yI-sA

"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."