First walking animation [robot]

This is the base model of the robot I've used for testing. I had some challenges with the rigging portion and figuring out how to make him move like ... well ... a robot. A lot of the set-ups in testing were causing him to have deformations, but by changing the weighting and parenting the separate pieces on to the joints, he is working pretty well! This is a loop of a test walking animation for the robot. There were rigging tests I did, such as putting a foot roll on the model (like a human would have), but because of the structure of him, it doesn't make a whole lot of sense. The whole idea is that he is big, bulky, metal, and is going to walk slow and heavy.