This lesson moves the biped forward and completes the walk cycle.

Set up the scene:

• Continue from the previous lesson.

Continue the walk cycle:

1. At frame 27, click (Body Vertical) so you can move the center of mass.
2. Lower the body slightly, so the biped sinks a bit as the right foot flattens onto the floor. Set a key for the center of mass.
3. Drag the time slider ahead to frame 32. Move the center of mass so it’s over the ball of the right foot. Set a key for the center of mass.

   

4. Move and rotate Bip01 L Foot so the heel swings above the ground. Set a free key.

   

   Use this procedure throughout this exercise: Lock one foot by setting planted or sliding keys, move the center of mass, then move the other foot and set a key.

Complete the walk cycle:

1. Drag the time slider to frame 37, and click (Body Horizontal). Move the center of mass forward, and set a key.

   

2. Select Bip01 L Foot and move it so the leg is extended in front of the biped. Set a free key.

   

3. Rotate the left foot so the heel is down and the toes point upward. Set another free key.

   Now the foot looks better.

   

4. With the left foot selected, click Select Pivot and select the pivot at the heel. Set a planted key for the pivot.
5. Turn off Select Pivot.
6. Go to frame 39, and rotate the left foot so it is flat on the ground.
7. With the left foot selected, click Select Pivot and select the pivot at the heel. Set a planted key for the pivot.
8. Set a planted key for the left foot.
9. Click (Body Horizontal) and move the center of mass so the body moves forward.
10. Set a key for the center of mass.
11. With the left foot selected, click Select Pivot and select the pivot at the heel. Set a planted key for the pivot.
12. At frame 41, rotate the left toes (Bip01 L Toe0) so they are flat on the ground. Set a planted key.
13. Select Bip01 R Foot and drag the time slider back to frame 30. Set a planted key.
14. At frame 32, rotate the right toes so they are flat, and set another planted key.
15. Drag the time slider to frame 37, and rotate the right foot up a little, then set a planted key.
16. Scrub the time slider and review the motion. Add rotations for the toes as needed.

Save your work:

• Save the scene as walkcycle_completed.max.