I’ve been having issue with floating feet for a long while, so I figured I’d try adding inverse kinematics and blending it with the animation to place character’s feet onto the ground. Here’s a small video of the working solution.

The solution is not only for feet, it will work on any 3 bones using 1 bone as an effector to be placed and adjusting rotation of 2 ancestor bones to achieve that placement. There’s a bit of a fudge factor which controls blending so that feet are not just glued to the ground and can come off. Pretty happy with the result.

TL;DR

Characters’ feet will now be properly grounded and will not poke through the floor.