Here is some I found just now (on youtube):
3D Animation Overview Tutorial - explains all those steps needed to create a 3D animation, starting from using a sketch, modelling, creating the bones, key frames,...etc.
Walk Cycle Animation : How to Breakdown an Animation Walk Cycle - key frames for a walking cycle
For almost all animals there are, one can find several sketches of key frames for walking/running animations. Here e.g. for "wolf":
http://www.youtube.com/results?search_query=walk+cycle+wolf
I had a brief look at some other tutorials I found on google but most of them were a bit too special for one program or not detailed enough.
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