Terminator Genesis

Sup guys! 
I want to make a datapack which adds the Terminator like in Dream videos , and the first problem arose that every datapack which made the Armor stand walk (+ walking animations) and jumping , how do I make my own , so here's my question 
How do I make Armor stands walk like players and also have animation in the most lag free way
I might be asking for a lot but animations are optional and optimisation is the priority in my datapacks (not to end up like stellarity, lmao. I thought to use mannequins but it seems more harder so help me choose one