A while ago I had to animate a character walking off-screen. I meant to do a straightforward walk cycle, but somehow, by accident, the second half of the walk turned out quite a bit quicker than the first.
It looked really cool, especially since this character was supposed to be frustrated. He started walking at a normal pace, then it seemed as if he decided to hurry up after the first few steps.
For anyone doing walk cycles, this would be a good idea to break up the monotony. Find some excuse for your character to slow down or speed up, throw in an obstacle to jump over, etc.
Walk Cycles - how to make them not boring.
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