The Coleman's advert has been a good source of reference for how to make a quadruped move like a biped. It was created by Aardman and shows off their animation prowess. Judging by the way it moves (no pun intended), it looks like they are using a biped rig and possibly some corrective blendshapes for the hind legs due to it's rotations at the leg root. Would love to see some behind the scenes footage...
As much as I'm impressed by the animation, the commercial as a whole leaves a little less to be desired.
I can't help but feel that the bull that leaps out of the hot gravy is too reminiscent of a steaming turd and this makes me feel uncomfortable as it bobs around. Also, the song 'I like the way you move' sounds cheesy and dated. The 'urban' dance moves are intended to be playful and humorous, but don't even match the rock/pop music.
The character animation is comical and believable; the commercial is obviously trying to get down with the kids, but this contrived piece has me reaching for the sick bucket rather than a jug of gravy.