Yeah, they did an amazing amount of tech and artistry in this game. Here's an interview (originally in Japanese) about some of the tech, including info about the Colossus' and Argo IK... http://wiki.polycount.com/wiki/File:Making_of_sotc.pdf
Thanks alot even Eric though I've read this thing plenty of time already :D. They did an outstanding job for the fur if you ask me. Though, there isn't many detail about the animation except their use of the IK solvers.
From, what I read from the article shared up there, It was all hand keyframed with the usual procedural animations (IK's, Look at and blending) but they referenced themselves laot doing it. It's also wirtten, they they would something simply ''slows down'' the animation to add more weight.
If you read the articles I posted, you'll see they talk about how the animation was a careful mix of IK, ragdoll, and keyframes. You can see some of it in the low-res screenshots, where they show what looks exactly like an animation state machine. If you've ever played with UE4's Blueprints or Unity's Mecanim or Havok's…