Biped Animation

I've modeled one of my characters with Biped Bones. Although this is a fast way of generating an animation for a simple human like character I'm not finding it flexable enough so I'm going to continue to animate with my custom bones version.

Clarc Animation - 3D Studio Max Biped Bone Test from Jay Jackson-Hicks on Vimeo.

My aim is to have the character Clarc walk like Dog from Half Life 2 when he's excited or moving fast:


The character Clarc is a lifing robot so he will also be able to walk on just his feet when carrying heavy loads.