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Some progress with the procedural animation (bottom), although it's still pretty rough. And I'm cheating a bit here, copying the "footplate" positions directly from the reference animations while I'm focusing on other things like inverse kinematics.
#ProcGen
@runevision You've probably seen it, but just in case: https://www.youtube.com/watch?v=pgaEE27nsQw
Their work is for bipedals, but maybe some similar energy-based system would also work for your case to generate organic-looking animations?
@lisyarus Thanks, I can't remember if I've seen that; I should have a look later. Although, anything relying on an optimization process is *probably* a no-go for my use case, which requires animation to work on the fly for creatures generated at runtime. That, and the video says biped and I need quadruped (and others) too.
@runevision Yep, their approach directly is probably too costly, but at the same time you probably don't need _that_ high quality and detail? Maybe this would inspire you to figure out some simpler optimization with a simpler model that would actually work and be fast enough to generate :)
@runevision Was thinking about your project yesterday while rewatching this David Rosen video: https://www.youtube.com/watch?v=KCKdGlpsdlo There's even a short moment where the feet go way too high. 
@julian Right, I watched that recently. :) My project is made a bit more complicated by the fact I can't tweak magic numbers to one creature but have to find principles that work across many creatures.
@runevision pretty awesome so far! spine stuff will be huge
@benthroop What, you don't like walking planks? :)