Before you jump into analyzing (and re-interpreting) existing movements (patterns which already "have evolved" over some time),
I guess "doing it from the different direction" (from the ground up, "simulating evolution") also has its value (shouldn't be dismissed that fast)...

If you choose a nice Physics-Engine (perhaps starting with a 2D-one, later switching to 3D)...
and then define (according to certain "animal-types"):
- "segments in the right proportions and with appropriate mass"
- which are connected over "Joints" (which restrict certain movements, and allow others)
- and also support "spring-like bindings between segments" (to simulate muscles and tendons)

You can achieve surprising results even after only (relative) few generations of an evolutionary algo,
in conjunction with a Neuronal-Network, all "set up for certain goals to achieve".

Here's something like that, which demonstrates what one can accomplish with very simplified "Stick-figures",
and a still comparably small Neuronal-Network (in conjunction with a simple 2D-Physics-Engine).
(Youtube-Demos, based on VB6-implemented solutions by reexre, a forum-member here, ...you might send him a PM to "talk shop"...):

Learn to stay vertical:
https://www.youtube.com/watch?v=6PWYYapOz_I

Learn to jump:
https://www.youtube.com/watch?v=U4B1yceNUik

And here a somewhat more complex stick-figure, that resembles a kangaroo
https://www.youtube.com/watch?v=m4E9sj9vH1I

I'm quite sure, that with a bit more time-investment into "better stick-models" (getting mass and segment-proportions right,
as well as more realistic restrictions on interconnecting "Joints", Muscles and Tendons - accompanied by a larger Neuro-Network,
you will get pretty realistic movements out of it, when you let it "evolve" over a few more generations than shown in the vids above.

If you then managed to get good results in 2D, switch to 3D and repeat.
If that works out as well, then you can "store 3D-Physics-Models" along with the "trained for certain typical Movements" NeuroNetwork-Params in a DB or something.

Just my $0.02 (thinking about that topic, and your goals)...

Olaf