I came across this youtube vid of examples of various quadruped animal gaits. I found it quite interesting, albeit a little Pythonesque on occasion.
[video=youtube;3oEsPEW_HpQ]https://www.youtube.com/watch?v=3oEsPEW_HpQ[/video]
[video=youtube;3oEsPEW_HpQ]https://www.youtube.com/watch?v=3oEsPEW_HpQ[/video]