This new page on the website should help us answer a lot of the questions we get about animation and Inkscape

https://inkscape.org/en/learn/animation/
There are quite a few attempts at having Inkscape-like drawing with animation. But I found they are pretty well hidden on the internet. Here is a current attempt
https://code.launchpad.net/~yai-alpha/i ... /yai-alpha
https://github.com/yaii/pyink-lite
Here is a previous attempt
http://madbutterfly.sourceforge.net/
There are also others (but I can't find them at the moment).
For the current attempt, here are some quick demos and sample interfaces
http://gfycat.com/WillingWiltedFrog
http://gfycat.com/CarefulImpishDuck