All this talk of walk cycles inspired in me a desire to improve my own.

I kept a true FK construction to my character, but I used JvS's
FindKnee macro to determine the position of the knee, then back
calculated the FK rotational angles to get the points described. This
FK/IK setup will also make it easier to make it do things like walk up
stairs.

Thanks for the advice when I posted actually back in April this same
deal.  I think it's a lot smoother.  Fixing the rotation or bending of
the feet are a whole nuther project for another day.

I still have a love/hate relationship with splines.  Yeah, I could
figure out a way to get it to be very smooth, but then I wouldn't be
able to tweak, retweak, and microtweak if I have 8 extra points to
change every time I make a modification. (2 pts before, 2 pts after x 2
legs= 8 )  >:-P  Note how the "up" ankle travels in a straight triangle.

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