Rigging

I already had a strong idea of how i wanted my creature to move and interact because of this setting up my rig was rather hassle free i watched this video:
https://www.youtube.com/watch?v=wu6cSCpxJcE
and pretty much just adapted it to fit my model as it was similar to my desired outcome as seen below

 from here i added my IK's  to get the legs to deform the desired way

then I added the controllers where desired and ended up with a rig that i was very happy with the level of control I achieved

(at the end of the animation I wish I had added more controllers for the ankles as the feet kept going through the floor and I think another set of controllers may have helped to combat the issue)