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I think the puppet has hard coded walk & run animation cycles, when the signal strength from your left stick goes over a certain threshold the puppet goes from using the walk animation to using the run animation, even if the speed of your puppet is set super low.
Maybe use a signal manipulator to reduce your left stick's signal strength by 50% before going to the puppet, that way when you push your stick all the way the puppet will see only 50% signal strength, so it will still use the walk animation. (I'm assuming the threshold is 50%, you might need to experiment)
You will probably also need to up the puppet's speed to compensate for the lower signal strength.