so pictured here is a bunch of image i hope to generate mathemathically like using a computer simulation. based on the main body that is of a quadruped, i hope to be able to chart a list of motion : walking,trotting, running, the tired and limping version of those motion, and maybe some idle motion like breathing or turning heads

so now the queston is, to generate those motion, what sort of things to do i need to...locomote the thing? what force, what vector, how much energy, time and speed, and maybe additiona properties to balance the footing since thevleft and right body do not walk in unison but rather in sequence?

how do i build this say from something like kinematic science or automatons?

pls show me, step by step
or maybe the basic first

cheers