Toward a "well-balanced" design how should control and body dynamics be coupled?

Recently, it has been widely recognized that the emergence of intelligence is strongly influenced by not only control systems but also their embodiments. For this purpose, a decentralised control of multi-legged robot was employed as a case study. In addition to this simulations, a real physical robot is currently being constructed for experimental verification. Despite its importance, still very few studies have explicitly investigated this tight interdependency. In light of these facts, this study is intended to analytically and synthetically discuss "relationship as it should be" between these dynamics.