Realistic animation of legged running on rough terrain

Animations of legged creatures running over rough terrain were generated automatically, using physical modelling and animation with newly developed techniques from robotics and artificial intelligence. The 2D animations correctly simulate gravity, inertia, balance, and friction. The running motion generated is not repetitive; each stride is different, as dictated by the terrain. Dramatic movement effects such as slips, falls, struggling on slippery surfaces, and fall recoveries were demonstrated.<<ETX>>