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 https://www.unrealengine.com/ko/blog/a-layered-approach-to-ai-locomotion-in-the-occupation

please give me a hint ㅠ^ㅠ