You can get the trunk to react dynamically to the movement by using dynamics with the joints of the trunk, or easier is just keying the opposing trunk movements for the walk cycle(s).
Have a look over:
https://www.digitaltutors.com/digital...ideo.php?v=687
and this looks more the idea of what your looking for:
https://www.animationartist.com/2003/...y_tutorial.htm
Chris (formerly R@nSiD)
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