I jumped away from the book again to the online lessons. Those went over making skeletons and how to fix deformations again. Then they had me animate another walking guy. Below I used inverse kinematics instead of forward kinematics. I still have body parts attached to a skeleton. However now I have another chain here linking the foot to the hip. Now I can just move the foot and the rest of the leg moves along naturally. So forward kinematics would be like you yourself moving your arm. You determine how each part moves. Inverse would be like someone holding your hand and moving it around. Your arm follows along with the hand movement by itself.