perhaps scientifically speaking, what makes a walk cycle "balanced" or "not floaty"
noticably like human, horses' right hand moves with left leg and vice versa, and then this happen in almost unison, while during trotting or running, the motion looks almost in unison, like how deer mooves...

would there be a general guideline at least to avoid so called "limps/unbalance", "floaty/weightless"?