on a recent animation piece I did I spent a lot of time working out all the footfalls and hip shifts for them and in the end... meh. I've been thinking about it, and watching people, humans biomechanics is so smooth that the hips just flow so easily, I was trying to exaggerate but just made it too big. I think I'm going to follow Shawn Kelly who has mentioned a few times how he sometimes just hides the legs and animates from there. Makes sense. The legs aren't very important, put your big time making the important acting stuff strong, then just get the legs to work well enough not to have to worry about. (Like that Firat quadroped thing I posted, works with 2 legs too)
(1st kill the sound :P then skip to 3:05)
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