Locomotion Skills for Simulated Quadrupeds

ACM SIGGRAPH 2011 paper
Project page with executable demo:
www.cs.ubc.ca/~...
We develop an integrated set of gaits and skills for a physics-based simulation of a quadruped. The motion repertoire for our simulated dog includes walk, trot, pace, canter, transverse gallop, rotary gallop, leaps capable of jumping on-and-off platforms and over obstacles, sitting, lying down, standing up, and getting up from a fall.
by: Stelian Coros, Andrej Karpathy, Ben Jones, Lionel Reveret, Michiel van de Panne