I found this article today about a modular robot. From the article:
The modules can rearrange themselves into countless different shapes and create different patterns of movement. M-TRAN can configure itself to march on four legs, shape-shift into a long string of modules that slithers across the floor like a snake, or it can pull itself into a wheel and roll or creep along the ground with its legs splayed out like a spider’s. The robot can even evolve a new walking strategy if it looses one module.
The possibilities are so immense that many of M-TRAN’s patterns of motion aren’t designed directly by human programmers. Genetic algorithms allow the robot to discover new ways of moving on its own. The M-TRAN computer cycles through possible patterns of motion, selecting the most promising ones, sampling their effectiveness, making further selections till the software evolves a new pattern that the robot can adopt.
Link to the article
Link to the project website - Check out some of the videos. It's totally sweet.