Whilst advances in real-time computer graphics continue to permit the development of increasingly vivid virtual worlds, the degree of interaction between the environment and the animated characters within remains relatively limited. There has been little research into the realistic real-time simulation of creatures with the ability to scale arbitrary surfaces and fully explore their environment. Natural looking animations of such feats would greatly enhance immersion in computer games, as well

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... s being of benefit to fields such as phobia therapy and Artificial Life research. We present a system for dynamically animating ground based arthropods in real-time, capable of traversing realistically across a complex, arbitrary environment. The physical simulation of the virtual world further grounds the creatures, enabling complex emergent animations to form.