Well, my problems continue.  I spent a good part of the evening animating a nice walk for the robot on my own, figuring Walk Designer might be the problem.  I got the walk right where I wanted it.

Two problems developed.  When I copied the walk (37 frames) and pasted into the animation timeline, everything worked, except the left foot dipped below the ground on every pasted cycle, but not on the original.

So I made a walk animation for my pose library, stared a new project, brought Fat Bob in and applied the walking animation pose.  The right foot is off the joint and about a scale foot in front of the leg.  It moves, but it's not attached.  I'm about to lose it here!

By the way, I managed to apply IK to the legs and arms and it worked great.

lesbently I'm a newbee and not very technical.  How do I apply the script you kindly provided?