I built this torso and legs following the tutorial on the Eovia website. It's a nice clean hierarchy. Starting at the bottom, I IK'd each segment and applied Limited Constraints. All in the X-axis [to keep it simple] The Top Left image is the starting walk position. The Top Right is the 'crossover' at Frame 36 [2 sec.] The Bottom image is Frame 02! The figure rockets off the screen while twisting himself grotesquely. And then rockets back at Frame 35. Why is this happening? There are no rogue keyframes, or anything else moving in the scene.