Character TD Chris Lesage with a fantastic article on how to create a Foot Roll on a cylindrical object by means of using vector math to animate the pivot of a cylinder so that it will roll on its edge in any direction.

Check out the post for Creating a Foot Roll for a Cylinder in Maya using a Unit Vector here.

Chris Lesage writes: Here is a tutorial that will demonstrate how to use a Unit Vector to animate the pivot point of a cylinder so that the cylinder will roll on its bottom edge in any direction. I’m using this technique for the feet of my Mini Mammoth rig, but it could also be useful for robot feet, or adapted into different shapes for a variety of uses.