7 years ago we were able to teach computer generated creatures to learn how to walk, improving with each generation. Using modern machine learning methods, we can now change our creatures' body shapes on the fly and it will still adapt to its new form using the same algorithm.
"Learning Body Shape Variation in Physics-based Characters" by Jungdam Won and Jehee Lee:
http://mrl.snu.ac.kr/publications/ProjectMorphCon/MorphCon.html
