Spent some more time on it tonight.
And here are the sketches the companion character is based on! These are by Kristen Elias:
I made the rig without looking at the creature, but this is what I was aiming for. :)
We've had some free time at work, so I'm messing around with a character a friend and I created for a game idea. I just did a really quick walk with it today, and then started on a more complex animation to finally start doing a little more with quadrupeds than just cycles. It's going well so far - I'm excited to see where it goes.