So I decided to throw myself into the world of quadrupeds and at first it made my head IMPLODE! I originally tried a horse walk but I didn't plan properly and ended up making a huge mess. So with some research, decent reference and notes I've made a start on a dog walk cycle. As you can see in the video above I have only animated the feet positions and the back up and down positions. I'll continue working on it after I've had a bit of feedback on some forums.