Flipstip you're right about that, however you need to consider 2 things!
This is stealthy ninja stepping toe-on-toe all sneaky, he needs to keep 'low profile' :D thus making his 'body motion' much less than any other unit.
another thing to consider, anarchid demanded the unit to be running/jogging, but not in extremelly fast as in olympics style.(my first rework attempt the animation of the foot was kicking superly strong.)
as for the feet-touch-ground thing, bare with me while I explain how blender works and what kind of limits I'm facing.
if you have ever looked at blender animation tutorials OR Gmod(from steam) where u animate ragdolls, the way you animate is by key frames.
meaning each 2 steps I would ask it to do, the programme itself 'predicts' how the movement should go in between those 2 steps.
how to make it looks more realistic? more key-frames of course. but; we're dealing with trasnferring an animation from 3D programme into an engine.
I dont want the engine risk going goofy with the animations because its too 'complex' if you know what I'm throwing at.
If you're familiar with either coding or any kind of 3D model/animations you would know anything could possibly go wrong. -_-
so for that's sake just trying to keep it decent-simple and not too much time consuming to do other animations and hopefully more units in future.
Edit: even with having 'more key-frames' you wont face any less of troubles, I had spent about 1 hour to fix one keyframe and decided to say fuck it, delete from the point the error starts and do better/different all over from there.