You got it spot on farbtopf, I have been contemplating adding a foot to the bottom/stuck out of the front of the leg all the way along. I've based it on a general walk cycle so you are exactly right with it not being able to walk that way. A wierd stomp style will be next up.

dae - definately, I was concentrating so much on just getting a decent walk cycle that I totally forgot about external influencing factors such as weight. I'll add that into the 'stomp'

Some good good stuff to work on guys, thanks for the pointers