For Poppy's rig, I tried to make the controls as animator friendly as possible, by making them intuitive as well as using lock and hide on attributes such as scaling and translation which could get in the way of a believable animation.
As for the giraffe, I have been looking at skeletons as well as they way they walk.
"Walking is done by moving the legs on one side of the body at the same time, then doing the same on the other side. With each step, the animal swings its head."
Below is a rough sketch of what the joints would look like:
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