The research is based on this video.
The walk should be rear 3/4 delayed, and the contact points of the front and the rear legs is extremely close together, especially for cats, the rear foots steps into the foot prints .
The low and high points at the rear reverse. The front is up the rear is down, the heads tend to the rear down.
Front left leg contect, rear right passing, 8 draws in total in 24 frames. Contect is the lowest position and the highest is passing.
For trot, the rear leg is like jog, both feet leave the ground for a short moment of time. When the high point reached, only 1 foot is on the ground.
The frount pows left off both front and rear reach their low and high points at the same time. The head being slightly delayed.
Mid leap front left forwards front right and rear left passing.
The passing positions are also the low points and the leaps are the high points
For Gallop, the front ground contacts would be alone the lines of left-right 3/4, the 3/4 indicating the amount of time the feet are off the ground. The back end would be 1/2 right left. gallops are not always that symmetrical.
When the rear leg is touch the ground, the dog is the shortest wi th a curved body acting as a spring of stored energy. The moment contact is made the rear legs push the body, the animal makes most use of this moment by extending the body against the push of the legs and so gains forward momentum, the front legs keep that momentum going and the animal is now at its longest.