Check out some excellent animations of a computer learning how to walk.
It’s quite fascinating to watch the videos, doing things like muscle routing and control parameters are optimized. Really looks natural, even for the animal looking shapes.
From what I’ve read, the genetic algorithm is being developed on the fly with skeleton type, then optimizing the muscles. Oh, okay.. huh?
Luckily, most of my questions should be answered in the published paper. You can download it here.