It might not be too late to make changes.
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I wanted to share my references and the article this creature comes from.
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You need to polish the skeleton, and the weight paint and of course the animation but it’s fun. I like the hing leg (?) flexion of the skin. For the animation you can find quadruped walking animations references.
Keep working on 
I (corrected from you) looked at the skeleton and found a missing bone. I’ll have to take your advice and study walking animations.
It’s been published on cgtrader.