from quadruped trot to gait, to walking running of bipeds, how do i "move" the limbs to produce something good?

i usually get only one body parts right either right leg or hands but then the following parts like left legs which is supposed to follow the first drawn parts in tandem then dont always looks ok, mostly messed up.
and then there are pelvis abdomens, bodies going up and down... i was hoping that there d be more detailed guideline, so i can sort of animate correctly straight ahead and mechanically calculate the right positions of the limbs, like how left leg walking is followed by right leg behind and should possess equal distance from the centers and how the body then rotates and changes.... things like tht

where can i learn all those maybe? something genera to apply to all loops for all creatures/machiens?