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  • How to make feet stay on the ground on walk cycle

Hello!
Pretty new to animating, so I`m asking about techniques;
what would be the best way to make sure that feet stay on top of the X axis when the character is walking? Or do I just animate them frame by frame to stick to their position when landing ? (this is sometimes hard, because they come out "shakey" and not smooth)

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Have you checked the example page of Spineboy? You can see the details of the Spineboy’s feet setup here, it is perfect for aligning feet on the top of ground:
Spineboy example: Legs

The foot tip angle must be properly animated, but the Spineboy’s feet basically does not go through the ground unless the front-foot-target bone and rear-foot-target bone are moved below the ground (below the X-axis line) even if you translate the hip bone in a large vertical direction. Here is a briefly modified version of Spineboy's walk animation to make it easier to understand the IK constraints' effect:

The bones highlighted in light blue are front-foot-target and rear-foot-target.

I hope this will help you.

Thank you! I´ll try with the IK constraints.