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from: http://www.elysiun.com/forum/viewtopic.php?t=15503&highlight=insect

First of all, many, many thanks to Martin for his Track_axis.py script!!

Here is a script to have an insect walk, following the movements of a proxy (a bit like Walk-O-Matic): http://perso.wanadoo.fr/ml.wibaux/insect-walk-0.4.py

Main functionalities of the script - Generates the body and leg tip empties, and writes the corresponding IPOs? (generates both position and rotation of the leg tip empties, allowing for best result: see constraints in the example below and in the tutorial).

Here is an example blend, with small HowTo?: http://perso.wanadoo.fr/ml.wibaux/ant-0.3.blend. An example MPG1 http://perso.wanadoo.fr/ml.wibaux/ant-walk.mpg And a tutorial http://perso.wanadoo.fr/ml.wibaux/index.html Documentation a bit later.