Researchers Atilim Baydin Gunes has published a document that describes the development of the central structure of generators for the control of a five-link planar mechanism of the upright Gangs (PDF format). A hardware platform was on foot, had four compounds - a knee and hip on each leg. The first attempts were in the hands a stable step to see whether it was possible. This proved to be very difficult, with the destabilisation of the hikers after a short time. Afterwards, the examiner with the help of genetic algorithms in a simulated environment, and then tested on the actual hardware to see how they played, in the real world. This produces a series of stable, the man-like gaits, including some who have done it, the stability of the approach, even if a non-use of feedback sensors.