Animating Legs

I've got Bone

Skeletal structure

Max allows you to create a skeleton and then attack it to you model/mesh this then allows you to edit and animate it with ease. In my animation i used this Technics to animate my AT-ST legs walking. I found it fairly simple. The problem with this was that when i was done i was unable to move the walker and have the legs move at the same time so i had to animate the world around it to make it look as if it was moving.