Here is the robot sequence as a result of improving the key frames, camera position and timing. It depicts the robot walking, aiming and aiming it's rifle. For this video, I have added the atmospherics back in (snow, fog etc).
I feel that this is much smoother and works well as a result of knee anchor manipulation and after following the 'foot guide' which I devised. I tried to pay close attention to the weight of the motions involved in stopping and kneeling down (also subtle movements in the aiming of the rifle).
Looking back at the initial research I conducted in creating a walk cycle, I quickly jotted down the following. It is a frame by frame action for the footing of the walk / run cycle (whole cycle of one foot from frame 1-14). It is basic, but variations of the same instruction has been used throughout the animation:
Walk cycle in 14 Frames
First Foot
Frame 1 - DIRECTION POSITION KEYED IN.
Frame 2 - Toe roll (40-45% approx).
Frame 7 - Toe roll (0%), foot rotate (35%), raise leg (at which point the waist is also slightly higher).
Frame 12 - foot rotate (-45%), plus positioned so that the heal is touching the ground.
Frame 14 - foot rotate (10%) - DIRECTION POSITION KEYED OUT (waist as far in front before the knee joint of the other leg can no longer be seen to have a influence over the leg. Waist also lowered slightly).
NOTES
- Once the walk cycle has started, Foot B should start its cycle two frames before the end of Foot A. With one foot off the ground before the other, this would hopefully create the sense of haste).
- The waist should move in a forward direction and end as forward it can be, whilst both knee anchors still have influence over the legs (too much in one direction would result in an unrealistic motion as the shin and thigh rarely are the same angle when walking).
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