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Why would we want to animate articulated structures? Traditional animation (before computer graphics) depended heavily on the drawing of key frames to create character based animations and block out the desired motion. Early attempts at developing computer based animation systems also relied on key framing to specify motion. This technique requires a great deal of input from the animator. A better system would allow the animator to specify a motion sequence with only a few parameters. Thus newer animation systems use the techniques of forward kinematics and inverse kinematics to specify and control motion. The characters themselves are constructed out of skeletons which resemble the articulated structures found in robotics.

Amniotes are a clade of tetrapod vertebrates comprising the reptiles, birds, and mammals. Amniotes lay their eggs on land or retain the fertilized egg within the mother, and are distinguished from the anamniotes, which typically lay their eggs in.

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