To start off, we need the rig. Hello there! Open the rig. Then open the torso. And remove left hip, right hip and the welds. Leave the neck, right shoulder and left shoulder. Do the same to the humanoid root part. Then duplicate the torso. This is to make the lower torso. Make sure to select the torso. That is above the currently selected torso. Rename the torso to lower torso. And remove all the content inside lower torso. Resize the lower torso like this. Set the move to zero. Hold shift and drag it upwards. This is to make it easier to select when you animate. Duplicate the lower torso. Rename to main controller. Make the main controller thin and move it down to the legs. Scale it out on the sides. First select the rig and then press the regutted light. First select the humanoid root part and then select main controller. And create joints. Select the main controller and then select lower torso. Create joints. First select the lower torso and then torso. Right leg and left leg. Create joints. Then we need to move the bones where they need to be. Set the step to zero.25. Make it a bit easier to set the bones in the right place. Move the bones up to each of the corners of the legs. And move the torso bone down. Should be slightly above the lower torso bone. Like this. Now everything should be in place. There we go, the bones are in place. You can now move the main controller to move the rig. And can move the lower torso without the main controller following the rig. Just to test the torso, if that also works. Indeed, it works. That's a better rig for animating. Now you can make better walking slash running scene without that much work. Just simply make the walk slash run animation without moving the main controller. And then move the main controller to the position you like.