Character Rig with Physics

Hi, I’m currently working on a Blender for trying to bake animations from a genetic algorithm. The problem is that I am in need of the ability to rig a model and then apply physics to it, so that the model can fall over if it isn’t properly animating a physical action to keep itself standing upright. Something similar to this video of a similar method: https://vimeo.com/79098420

I’ve found the right kind of behavior when using rigid body physics, but I can’t seem to figure out how to apply rigid body physics to each armature of a rig, allow the rig to behave by physics while my animations counter-act it, and include IK into this. Any help would be greatly appreciated, and thank you for your time!

It’s likely that it’ll have to be animated by hand, then switched to getting hit by object in question. Then animated by hand again followed by hit by object in question.

Thank you, this is coming a bit late, but that was a lot of help. Thanks!