Rigged walk cycle - in Harmony Advances - the best tips?

Some things that is easy in frame to frame animation using new drawings could be hard to archieve using the rigg and deformation rigg.

Like a walk cycle to keep a leg on the ground ( not moving around )

Or if you have a character standing on the ground the rigged legs should be reversed from a rigg when walking.

I would like to get all the info on how to make this work best, using Harmonye ADV.

Thanks a lot!

/ Mattias