I think I understand the four-legged movement a lot more. This time I wanted to do a study of a hip propulsion in a quadruped. For this I reverted back to a skeleton.
It could be a canine, but could be easily a feline or another animal. The hip movement is representative of mammal, and a pawed creature at that. Hoofed and trotter animals have a different propulsion. The hips are powerfully swaying from side to side, leading with knees and the ankle and paw fall in after this. As soon as the foot reaches the floor the front paw is raised in a mirror mimic of the knee/elbow joint as forearms swing down at forty five degrees with foot propelling the motion and causing the other hip to come in to the side and the action is repeated henceforth. There is a small change in the spine as the main movement is lateral. This is reflected in a small bob of the head.