https://www.sciencedaily.com/releases/2022/07/220718122229.htm

Researchers at the Max Planck Institute for Intelligent Systems (MPI-IS) in Stuttgart conducted a research study to find out how animals learn to walk and learn from stumbling. They built a four-legged, dog-sized robot, that helped them figure out the details.

"As engineers and roboticists, we sought the answer by building a robot that features reflexes just like an animal and learns from mistakes," says Felix Ruppert, a former doctoral student in the Dynamic Locomotion research group at MPI-IS. "If an animal stumbles, is that a mistake? Not if it happens once. But if it stumbles frequently, it gives us a measure of how well the robot walks."