Just playing with some RBD in rigging, getting a robot leg to work…

The RBD is applied to the feet with a hinge constraint. The hinge constraint makes use of limits and high values for both damping and spring constant to prevent bouncing. There is no friction or elasticity on both the feet and ground, since the purpose here is to use the RBD to create secondary motion, not precise simulation.

I don’t think this is a final solution - which is likely to be a bunch of blended constraints.