OK So I figured it out! Hopefully this helps someone else.
- Create a control rig asset for your skeletal mesh. Good tutorial on how to to that here:
- In the control rig asset set up a basic IK for each leg. Good tutorial for that in these two videos:
- To control the extent to which the IK effects the motion of the leg and feet I created a control that adjusts the weight of the IK node, with 0 being no effect and 1 being full effect. This value along with the position of your ik target are then animatable in the sequencer track. Below are screenshots of how my sequencer looks and the graph of my control rig.
If you need any clarification, hit me up.
I think this works in 4.25 and later.