In the this picture we see that the cat has landed his back feet, his RFF is off the ground and the LFF is preparing to leave the ground. Also the head is raising, this is a movement that will bring the rest of the torso up, a very important and subtle thing to capture.

The Forward_Null is moved to -30 cm, just assume its always moves forward -10 cm a frame unless I say otherwise. The UpDown_Null is moved down to 3.5 cm. See how the head is almost up to the level of the hips, and how the chest is starting to extend outward.

Now move to frame 9, the cat is beginning his jump, the hips are beginning to extend, but is still mostly the Chest extending, which forces more power into the back legs for the jump. The head is now above the hips too.

The UpDown_Null was moved down to 3 cm. As you can see once you get into this the animating goes pretty fast. Lets look at the next frame.

Now the Chest is pretty much fully extended and the hips and back legs are beginning to extend. Make sure to go to frame 11.

Move the UpDown_Null to 2.5 mm. Between this and the end of the next frame, our cat mech will have jumped, these next frames are what make or break the run cycle.

Lets go to frame 13, notice the almost full extension of the body, they Hips are also fully extended, releasing all the power of the cats muscles, here we are going to move the Forward_Null forward -15 cm and the UPDown_Null to 2.25 cm.

Lets keep going, on to the next frame.

Now were air born, all 4 legs in the air, go to frame 15 and do this pose.

Move the Forward_Null forward 15 cm again, and the UpDown_Null to 3.75 cm.

In this frame the cat is fully extended, it was also reached the peak of its jump, the head is beginning to dip down ever so slightly. Go to frame 17. Again in this frame the Forward_Null will move forward -15 cm.

All four feet should be at about the same height, make sure that the RFF is always in front of the LFF, and in this case lower, since it will be the first foot to land.

Here the cat is begging to prepare to land, the hips are at the same level as the head. The Forward_Null is moves forward -10 cm again and lower the UpDown_Null to 2 cm. Go to frame 19 and animate this pose.

Pretty straight forward, lets go to the next frame.

Notice the Hips are now above the Head. The RFF is almost on the ground, and the back feet are starting to tuck under the body. Got to frame 21, again the Forward_Null moves forward -10 cm. The UpDown_Null is moved to 1.5 cm.

The RFF is almost touching the ground and the hips are starting to contract again. Next frame.

The cat has landed, the back legs are tucking under, and the LFF is extending for when it lands. Got to frame 23, again the Forward_Null is moved forward -10 cm, it should be to -1.2 m now.

One more frame.

Ahh the last frame, the LFF is about to land, and the back legs are tucking under. Move the Forward_Null forward -10 cm. Go to frame 25.

As you can see my feet are not as quite as far forward this is to make the loop work a little better. Wow we are almost done, the only thing that is left is to fix the Feet intersecting each other. Turn off all movement Axis' except for X on all of the feet. Anytime the feet intersect each other, move the front feet inward and the back feet outward, until the do not intersect. Go to the camera view [ 6 ] and generate a preview. You now have a loop cycle, minus repetitions, for that just copy key frames. When you copy the Forward_Null though, move it down on the graph editor Z-Axis until you have something that looks like a diagonal line. Well I hope that you found this helpful, all of the scene , images, and object files are included. Also there is a movie of the run loop. If you have any questions or would like to get into contact with me, email me here.