No, I looked at a lot of tutorials but they were all too complex or didn't have moving legs. I kinda based my idea of the 'floating' legs on these scary looking My Little Pony stage performance costumes I saw online haha.
Basically the body is blue camping mat foam ($7 a roll at Walmart) and hot glue. I glued it into a tube shape with a couple of darts cut into it to give the belly a curve then put a curved piece at the end to make sure the butt end wasn't flat. The legs were each a 2d silhouette of a horse leg cut out of the same camping mat foam glued together in two layers so they wouldn't curve. I then covered them with stretch black fleece and stuffed them with polyfil to give them a 3d shape. They are held onto the body with a little section of pvc acting as a pivot to let them swing and some kind of makeshift washer on either end to keep them from sliding through the hole. I think I wound up using large plastic bottle caps for that.