2 Activate Select And Rotate, note the location of the gizmo intersection,
and then turn on Select Pivot (this deactivates Rotate). Pick the point at
the ankle that lay at the gizmo intersection, and then set a sliding key.
3 Turn off Select Pivot. Rotate the foot so it's parallel to the ground, and
then set a sliding key.
4 Turn on Select Pivot, and set the pivot to the heel. Set another sliding
key.
Animating a Freeform Walk Cycle | 809