I did a presentation on physically-based locomotion in school, not quite the same but still related.
This is the list of papers I used: (search titles in google scholar)
1994 - Evolving Virtual Creatures
1995 - Further Experience with Controller-Based Automatic Motion Synthesis
2001 - The Road Less Travelled- Morphology in the Optimization of Biped Robot Locomotion
2003 - Efficient Synthesis of Physically Valid Human Motion
2006 - Dinosaur Locomotion - Beyond the Bones
2008 - Real-time Motion Retargeting to Highly Varied User-Created Morphologies
2009 - Optimal Gait and Form for Animal Locomotion
2009 - Optimizing Walking Controllers
2010 - Robust physics-based locomotion using low-dimensional planning
2011 - Interactive Character Animation using Simulated Physics
2011 - Locomotion Skills for Simulated Quadrupeds
2012 - Optimizing locomotion controllers using biologically-based actuators and objectives
2013 - Flexible Muscle-Based Locomotion for Bipedal Creatures