Animating quadrupeds is extremely difficult in 3D to really master that motion. I found this really quick test a nice way to see how one moves from various angles. Take a look and hopefully this helps.
And also the free demo introduction of the Digital Tutors “Animating Quadrupeds in Maya 8.5” gives you a little insight as well. http://www.digitaltutors.com/tutorial/3272-Animating-Quadrupeds-in-Maya