
Then I used an IK Solver to link them all together

Once I realised how frustratingly rubbish The above bones were at walking I gave up after a days slaving and spent another day attempting to use a biped instead!

After this I tried using the skin modifier to attach the bones to the skin. Below is a shot of me editing the envelopes so that When I animate the biped bits aren't left behind!
Here is a shot of just the biped. I Had to give him very short legs because you can only really see his feet. I also had to give him an extremely long neck because he has a very big head!

After a while using skin it wasn't working as planned so I tried another approach. A modifier called Physique which works in a very similar way but is more suited to bipeds, below you can see the envelope gizmo running through the body. Unlike skin you can not adjust the envelopes by using the transform tool you have to use the parameters laid out by the Physique modifier which is almost as easy anyway.
After countless screams of anguish I finally had a working set of bones and envelopes and here is Drew-boy taking a stroll!
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