This is one of the best references on this topic I've seen - run cycles and foot locking are annoyingly lacking in documentation outside a few papers.

This is a really great presentation

Such beautiful animations. Too much detail is missing from this post and its related post on "two-joint inverse kinematics" (that is actually three joint inverse kinematics) - what are the joint types? which inverse kinematics problem is being solved (position, orientation, or both?). This could be a great post if the author spends some more time polishing it.

I always wanted to know how physics and kinematics came together and could be worked on with code. Your blog post was enlightening. Thanks.

I was recently wondering why foot sliding is still a common problem in fighting games. Surely with Inverse Kinematics it should be possible to fix this problem by now. I have the suspicion that people who are accustomed to fighting games are so used to it that they don't notice it anymore, or view it as correct behavior.

That was really comprehensive. Good read.