Game Developer known as Waabs recently shared a nice breakdown of their process for procedurally animating a lizard. The lizard is part of their game, Onora, where you take on different creature forms to uncover the secrets of a lost desert civilization.
Back in spring, we featured Waabs' progress on this animation over the course of a month:
A full tutorial is expected soon. In the meantime, if you're looking to learn more about procedural animation, check out Muhammad Kashif Ali's tutorial on animating multi-legged creatures or Lincoln Margison's videos: