This is a real time dynamics/expressions simulation of a robot that collects some balls into a basket while avoiding some obstacles.
The simulation mimics real life robots :
I used impulses to move the robot .
I used friction to simulate breaks
The brain is a chain of expressions , calculating the distance to the target , while looking out for obsticales and adjusting the impulses/friction accordingly.
The brain also controls a series of joints , which moves arround a (passively dynamic) claw that catches the balls (active dynamic).
check out the video: