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Physics based locomotion

Good day, everyone!

I’m not sure it is the right category for this topic, but…
I need to create some logic for physics-based robotic locomotion. It is important to not use simple animations. There is a video of the thing that is very close to what I’m talking about:
https://www.youtube.com/watch?v=mjhX4FdH3-Q
So, the question is: what should I read about to create the same model, how can I create this (in outline)?

Thank you in advance!

P.S. Sorry for my English, not my native language.