Here's a sample of sketches for the dragon steed I was playing about with earlier today. Started working one up a bit which might be used as the basis for the model.
Have been thinking about whether to do it robotic (inset sketch) but am not sure yet:

https://www.flash-fx.net/images/3D/sa..._concept1a.jpg

https://www.flash-fx.net/images/3D/sa..._concept1b.jpg

1st one is playing about with weights/major muscle positions for the stance of the dragon. Looked at bird leg bone/muscle structures for ideas.
2nd is basic outline blocked in.
3rd is with example samurai.
https://www.flash-fx.net/images/3D/sa..._concept1c.jpg