Servo robot problem

I've been trying to create these servo-based robots using various joints in conjunction with rigid bodies and I just can't seem to choose the right joint or configure them properly. Gravity and a rigid body on each 3D part is required because the robot needs to learn how to stand, move and balance itself without any human programming.

I have not come across any info to indicate that anyone has successfully done this with Unity. I'm starting to think I have to use a different game engine. O_O

Any suggestions? Can I emulate the servo movement with mecanim using bones? Anybody have a properly configured servo-based robot sample I can download?

Thanks guys!

 

Hi, would be very interested if you made progress on this issue

 

Its 4 years later so you probably wont get a reply