Thanks for the suggestion. I just tried it out. When I locked the feet and toes and used the walk designer the feet didn't move off the floor at all. The legs and the rest of the body moved though. I tried just locking the toes and he walked but it still didn't walk right. The best I've done is by turning off the Inverse Kinematics and using Limits. I'll just have to adjust the feet frame by frame to get it right.