I’ve had this done for some time now, but only got around to rendering just now. It’s my tried and true Kentrosaurus ala Heinrich, but now with the lessons learned from the elephant gait analysis. Can you see the difference from my old walk (from way back when)? Beside the background color?
The difference is very subtle but has the effect that while the back two legs basically biped along with 4 frame overlap, the front legs are asymmetrically shifted so that – instead of an alternating left / right stance – there is more time with three feet on the ground. Once I’ve seen both, the symmetrical one looks laughably wrong.