In this process I learned the mistakes of rigging– the wrong joint axes after a mirror joint, and manually correcting it–no wonder I’m having trouble animating this in Maya.

The Graph Editor is a nice utility to copy the time element (keys) from one body to another (right leg animation copied to left leg and offset it), and looping the animation. Anyway, here’s the sample:

Update: (10-22-13)

Another test sample with environment (hdri), and an image plane with a hdri texture for shadow. The only polygon here is the AT-ST model.