LEGO MINDSTORMS Robot Inventor
This cat walks with four legs, the head tilts up and down, and the tail wags side to side. The building instructions also include two dog variations for the head design.
An autonomous program makes the cat walk forward until the distance sensor sees something, then look up and meow for attention, then purr and and wag its tail when you give it head scratches (you need a smart device connected to hear the sounds). You can also control all of the actions individually with the remote control program.
Dog Head with Pointy Ears
Dog Head with Floppy Ears
Cat (or Dog)