The algorithm itself looks pretty simple. The hard part would be coming up with how to design the creature so it can do something interesting. One way that seems useful to me is to make one creature and make it player controlled. If you can get it to kind of do what you want you can then take that and come up with a way to automate it.
With the physics one it looks like torque is being applied at the joints. I'm guessing its properties are when to apply the torque and the amount of torque to apply. That is probably per joint.
The initial values for the properties would be some reasonable random value. Like if it takes 1 second before the ball hits the creature then for the time to apply torque a value of random(0, 2) could be reasonable.
There are probably more complex ways to model the creature. Some ideas that comes to mind could be to only start the timer when the obstacle gets close, or somehow take into account the orientation of the creature. Giving the creature some sensory cues could be useful too.
I think it basically amounts to a bunch of tinkering and creativity.