1. Animation of a biped is easy, now we have it nicely made. Go to control panel and find the "motion" tab and set it like in picture 1 and than put settings like in picture 2.





2. If you do not wish to make something like plain walking you can move it bone by bone with "set key" and "auto key" by selecting a bone (first switching on the auto key) and moving it in a direction you wish and than moving the time slider acordingly, and that is how you will get a manualy set-up animation.