Question Physically Based Animation

Hi,
Is there any tutorial or sample about robot movement handled by physics?
No procedural animation, no IK or AI please.

Example:

I'm looking for 2, 4 or 6 legs robot. Each leg could be controled by hinge joints. Movement is provided by hinge joints with motors but I'm pretty sure there are other methods.

My issues are hinge joints initial values, rotors handling and stability (especially with 2 legs).

Thanks.

 

You are basically trying to make a foot placement IK yourself.
Place colliders on the button of the feet and move them how you want (animation curves per joint can be great for this) untill they collide