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6 Go to frame 10, the first Contact pose for the hind legs, and

move the COM to a vertical position midway between its heights for the

Down and Up poses.

7 Shift+drag the new key from frame 10 to create a copy at frame 22.

If you scrub the time slider or play the animation, you can see that the

hips now bob up and down in a more convincing version of a walk. The

shoulders and spine still seem rigid.

Create movement for the shoulders:

1 Go to frame 1. Make sure Auto Key is still on.

2 Select the lowest spine link, Bip01 Spine, and rotate it up a bit

(not too much).

Animating a Quadruped Walk | 1021