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While we're all waiting for Bassam to finish his fantastic Tutorial DVD, you may want to check out this walk cycle tutorial by Andrew West.
Andrew writes:
This tutorial will cover animating your humanoid characters to have a realistic walk. It won't cover any of the modeling or rigging aspects. However if you download the tutorial model, this is all done for you.
[...]
This tutorial isn't intended to be definitive, but it will hopefully teach you the basics of how to set up a simple but authentic looking walk cycle.
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That's a nicely skinned character.
The walk cycle is nice too – but there should be some overlapping action in the arms.
Very nice! now I just need to give my character somewhere to walk to…
looking for walk cycle tutorial