I spent a bit of this Summer creating some rigs for Cogswell for use of their animation classes. The first one I worked on is this Jaguar, which was a good oppurtunity to try some approaches I recently came across. For the hind legs, I used a ikSpringSolver, similar to Morgan Loomis’ setup. For the spine I added an extra layer of control that allows the animator to fine tune each section to work along with the spline IK controls.