Can you link what you’re talking about? Because I’m not aware of any animation system that’s purely mathematically derived AND that can generate aesthetically pleasing animations for arbitrary body shapes.

There are certain techniques like Inverse Kinematics that might vaguely fit your description, but that’s a tiny piece of the puzzle - it might get you 5-10% of the way, but given arbitrary body shapes it’s gonna look horrible in most cases, and it doesn’t give you actual animations since you’d still need to purposefully move the creature’s extremities.