We present a methodology used to implement artificial animated creatures. Our control architecture considers using local sensory information to provide the creatures with perception, deals with dynamics and kinematics issues and provides a well-structured way to control the creature resources. Three artificial creatures with different sensors/actuators/dynamics characteristics show the versatility of the architecture. As a practical result, by using the same control structure, the artificial animated creatures are able to perform different tasks, like visual monitoring of their environments and progression on a rough terrain.