EDIT: I have a more in-depth centaur tutorial here --> [link]
if you would like to take a look.
Tutorial pretty much says it all, really. Made mostly because last night I was trying to help ~Fireaze
a little with his centaurs and I said I'd do some sketches for him, but as I was doing them I figured I might as well throw in some explanation and this is what came out.
I hope it helps- centaurs are tricky creatures that don't get a lot of attention, and I haven't seen any tutorials about them (a few anatomy charts, though). Eventually I'll make a much more thorough anatomy study/tutorial, but this will have to suffice for now.