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You could put a dragger handle on his head and a fixed handle on the base. This will allow you to bend and flex the puppet one side or the other. The actual "jump" would then done by animating the position of the puppet (you'll need to get the timing right). You should then be able to save the action.
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I created a quick video showing how to make this puppet walk: https://youtu.be/Dbv_xIzRXEM