I finally solved the math to get my feet to work the way I want them to.
Note how they bend at the back of the stroke and also touch down heel-first.
The math involved gave me a headache.

Next task:  duplicate the realism of the sassy walk at:
http://www.cgcharacter.com/cghuman.htm
top right animation.  (Just looking at the animated gif: as for the DIVx,
well, I couldn't see it.

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