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I've made a simple puppet who's capable of crawling on the ground. Unfortunately procedural animations don't work very well with this kind of thing, so I disabled them while the puppet is crawling. Doing so removes the puppet's ability to stay parallel to uneven ground even with Match Floor Angle maxed out.
So far my options have been the following:
-Disable the procedural walking animation but leave the other procedural animation on. This way the character stays parallel to the ground, but his feet also react to slopes as if he's walking up or down the hill
-Don't use a puppet but an animated sculpture instead
The former looks stupid. The latter doesn't sound practical. For example, would it even be possible to seamlessly switch from a puppet to a similar looking sculpture when you start crawling? I've experimented with Look At Rotators ja Laser Scopes, but the puppet doesn't seem to know what to do with those while it's in the prone position.