This is my first go at uing the H-Anim specification to control humanoid movement. Most of the components of this scene are copied directly from the X3D basic sample content, the original source used to help make thhis model is available at

The use of the stick man model with ball joints is inspired by my favourite book on character animation (Character Animation 2) by George Maestri. Possibly the first book on 3D that I read from cover to cover rather just dipping in for references and examples.