How to create rig for the simple bot?

hi there! i’m a stuck with making the rig for the bot. i’m do not figure out how to make setup for bot legs to get a nice rig to animate it.
bot1.zip (163.9 KB)

can somebody to help? how to freeze foots on floor while bot is doing some body movement ?
bot1.zip (173.5 KB)

I find this tut :point_down:


tech called Reverse Foot Lock

Reverse Foot Lock
The Reverse Foot Lock setup is an external set of bones that drive the foot of a character. It's called a reverse foot lock because it is constructed going backwards from the heel and up the foot to the ankle.
The advantage of having this set-up is that you have an external object that can be used like foot sprints and can easily be animated and locked to the ground.