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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 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.