Walking system Similar to The game "The Enjenir"

I’m going to get straight to the point, I’ve been trying to figure this out for a couple of months, since I haven’t really seen anyone do this before.

here is a video example.

The game has a type of Active Ragdoll walking thing kinda like Human Fall Flat and Ragdoll Universe on Roblox.

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If you cannot click the link heres the actual video of what I’m talking about.

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i am not good at animations, but you can try and use an inverse kinematics thing and raycasting to get positions to move the legs to without clipping

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