can i get some,. scientific description on how a walking cycle, or a loop happens, like this
https://youtu.be/C6uYJp-q6ug
basically how all the muscles used in the characters moves itseld in 3d space hence creating the wanted motion that repeats itself while also avoiding unwanted things like(unless wanted) : limping, jitterings, floaty/weightless motion, whatever makes something considerably "unrealistic"?

I had imagine this would be /3/dcg but there havent been any satisfying things there and it seems mechanically, a good, natural motion,. is basically scientific before automated?

pls link me any useful resources too like procedural motion or kinematics to make things easier thx