Early Cat Walk Cycle

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I have recently been enjoying working on modelling and rigging a cat in Blender. The challenges are manifold: from realistic fur to simulating quadruped movement to combining complex actions into a believable animal. The process has been very satisfying so far, as I am making good use of Blender’s non-linear action editor and learning a lot about character animation in the process. Here is an early, rough sample of a transition between walking (left two; right two) to trotting (front left, back right; back left, front right):

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