3D Pushing a Box

In Maya I had to use the BodyMech rig to make a figure try to push a box, but fail to push it. This task was all about using Inverse and Forward Kinematics, and how to smoothly switch between the two. 

This is my attempt, which I think still needs some work. I am pleased with the start and the push, however when the figure steps back it looks very robotic. I may have to adjust the last position, or experiment with the graph editor. Or maybe even add a step back to make it more natural.

Additionally, the playblast made the action very slow for some reason.