http://www.foxnews.com/scitech/2010/02/09/spider-robot-learns-walk/
Quote
Perhaps the most impressive aspect of Bunting's hexapod is its ability to "teach" itself to walk by tying vision with legged locomotion. Each time the hexapod is activated, it begins with no prior memory of how to move forward.
As a result, the device begins by experimenting with different positions and motions. If a particular motion moves the hexapod in a forward direction, it is reinforced.
http://www.youtube.com/watch?v=O3ovrT8pWww