Cage, here is a result I got using your AP4 walk, and setting limits before applying the walk cycle. It seems to completely cure the knee buckle. I think the legs are now a bit too close together, but perhaps that can be fixed by modifying the pose file. I like the fact that using limits has brought the legs closer together (not intentional), but think it may have gone a little too far.

Overall I'm quite pleased with the result, I think it is an improvement, but this is early days, and just one test of one walk blend.

There are problems with the feet, the toes are going below the ground, but that was also happening before limits were applied.

So from where I am now, I see three major problems remaining. Getting a bit more separation in the legs, and fixing the feet so the toes do not go below the ground, and curing any sliding that is happening for the feet. I have not checked for foot sliding so far.

I will attach a pose for the limits in my next post.

Quote - If we can determine consistent changes which are needed for any limb in the poses, we can apply them using a script, much like what's been done so far.  I'm afraid the worst troubles really are coming out of the default handling applied by the Walk Designer itself, however, regardless of the poses.

Yes, I agree, it's the default handling applied by the Walk Designer itself. The up shot of that is that it may be better in terms of results to apply corrections after running the WD, rather than applying them to the pose before running the WD. This is more inconvenient for the user, because it mean an extra step, but may not be avoidable.

What we really need is a better Walk Designer, but until that happens, we must continue to do battle with what we have.

I think the Favoured IK Angles would apply to the current pose in the current frame. I seems bloodsong is suggesting other wise, so I may be wrong. On the other hand, bloodsong might not be thinking in terms of animation, but talking about one static frame. In that case a priming pose would probably be of little use.