Wanting to solidify my understanding of the four legged cycle I stripped all the ingredients down to their basics. The Model I've needed up using is a very abstract dog (or an ant). I went ahead and animated it straight without any prep, just maiming for a discovery animation to happen as an experiment. Usually I have a concept/theme and then I work from key positions through key frames to accents and then I add any necessary in-betweens. This time as a visual memory exercise I animated straight through, the only desire to create a walk cycle. I ended up with a lopsided step and the back left leg has a stronger step indicating weakness or limp in the right. It reflects in the body and a crawl by the front limbs. So I've inadvertently animated a lame abstract canine.