I thought I'd have a read of The Animator's Survival Kit by Richard Williams and get a bit of practice as I haven't actually animated anything in so long, all I've really done is design and pre production work, so I've started this walk cycle in TVPaint, using the same character as Williams. He says to start with the two contact positions and then a passing position. This is my starting point, just a rough, not cleaned up version but I'm going to try and improve it and upload a proper copy, but yep, here it is, animation in progress! :)
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