Thanks for your comments everyone
I’ve made a few small updates to the tutorial just to clarify a couple of points.
I did use forward kinematics, but it isn’t essential to do so. The principles of walk cycles are the same either way. What’s important are the positions of the bones in the various keyframes.
I’m still learning the different aspects of animation in Blender. Creating a walk cycle for part of the game I’m working on forced me to do some research, and I learned a lot from it. So I thought I’d write this tutorial to share my findings with you all. Hope it proves useful