How to make foot animation like this link?

This link is locomation animation system.

I want make foot animation like this vedio in 3:15~4:15

I think, This video locomotion animation is different to ‘The Occupation’에서 사용한 AI 로코모션의 레이어별 접근 - Unreal Engine

please give me a hint ㅠ^ㅠ