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It's a pretty long old task but if you want to start from scratch then there's a book called 3Ds Max 6 Animation - CG Filmmaking from Concept to Completion which covers the subject pretty heavily (as well as all the stages involved in producing an animation - quite an interesting read). As the title suggests it was written for Max 6 but still seems pretty relevant in later versions.
If you've got a Max subscription check out CAT rigging (there's also some tut's on the Autodesk site) - I find this much friendlier than biped, and the skinning is a dream!
Chelmsford eh? My home town - might see you at this year's Prince of Orange reunion!
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Why are there people like Frank?
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