I created a Procedural animation system for a spider-type companion in Unreal Engine 4. All of the systems were developed in blueprints and are calculating everything at runtime. It can be used in pretty much any environment and adapts automatically to the height changes of the terrain, no matter how rough it is.
The companion uses an AI made with a behavior tree and can be switched between 3 modes by the player, it can go to a set destination chosen by the player, deciding on the best path to use, it can follow the user around in the environment or it can be set to wait in place.
The skeleton for the spider mesh was created by myself in Maya but the mesh was made by https://www.artstation.com/artcattleya