A “construction set” consisting of active and passive parts connected by joints that can be manipulated to form an movable articulated assembly representing things like animals and skeletons. Each active part includes a position sensor for acquiring and storing position data specifying a sequence...http://www.google.com/patents/US7747352?utm_source=gb-gplus-sharePatent US7747352 - Physical modeling system for constructing and controlling articulated forms with motorized joints
