I saw a TV program on how they made these. I don't want to spoil it, but if you really don't want to know, don't read on.
Basically, if you look carefully, you can see Human legs and poles sticking out of the dinosaurs abdomen. When the first dinosaur comes in, at around 0:11, you can see human legs where the dinosaurs legs are. And look down at the floor where the Triceratops is, you'll see a big bit of metal/plastic in between it's legs. In there is a human is sitting down, just under its belly. He is controlling the model's movements with levers and pedals by his feet.
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