A toy that can't stand still helps explain how we move, and how robots might do the same.
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References
Coleman, M. J., Garcia, M., Mombaur, K. & Ruina, A. Prediction of stable walking for a toy that cannot stand. Physical Review E 64, 022901, (2001).
Coleman, M. J., & Ruina, A. An uncontrolled walking toy that cannot stand still. Physical Review Letters 80, 3658 - 3661 (1998).
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Ball, P. These feet were made for walking. Nature (2001). https://doi.org/10.1038/news010726-7
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DOI: https://doi.org/10.1038/news010726-7