[chriswarbo]

Closest thing I can think of is Hod Lipson's self-modelling robots: http://www.creativemachineslab.com/self-modeling.html

Their system evolves a virtual body which is evaluated by comparing its predicted behaviour (e.g. if motor A is rotated by X degrees, sensor B should get response Y) to real physical movements (moving motor A and reading sensor B). Once an accurate virtual body has been made, it's used to evaluate a bunch of (again, evolved) movement styles in simulation. Once an efficient style has been found, it's used to control the physical motors on the robot.

Also related, their lab has a "universal gripper" made out of a balloon filled with coffee granules: http://creativemachines.cornell.edu/positive_pressure_grippe...