I’ve set different driven keys to each ball type to make sure the robot is visible when I want it to be, but turned off on the other types.

I’ve weighted painted my Arty’s left leg and copied the skin to the other leg

I’ve made a short animation to prepare for weight painting the legs.

I duplicated my leg geometry and oriented it. The second copy is for the blend shapes. The left leg is already blended.

I’ve organized my outliner more and cut/unfolded my leg geometry.

A video of the arty ball moving fluently with the COGs changing and the different knee controllers and follow controls changing.

I fixed some of my driven keys on the right foot and parent constrained the knee controls to each foot and the COG. Now they will follow the body and each foot separately.

I renamed and grouped all the parts of the legs and feet and set the driven keys to their assigned parts.

I’ve parented the joints so that they will move fluently.

I’ve added ik handles to each of the joints of each leg.