It was more than likely done using a Quantel
Paintbox, released in 1981.
It was like DPaint with a touch-tablet. Did 24-bit and everything. It revolutionized video graphics, and the style of animation looks like stop-motion with computer graphics, again something that reeks of the way the Paintbox worked - it only did single frame pictures, so you had to do animation by writing frames onto video tape just like stop-motion stuff.