Why the npc is shaking/stuttering when walking with a Rigidbody ?

I created a short video showing the problem and the settings of the npc avatar and animation and the Rigidbody. Also showing how it's working with and without the Rigidbody.

Is Kinematic is set to true, If not the npc will fall down or in other scenes situations he will float in the air.

And I'm using Animator on the npc with one state of Humanoidwalk to make it move and walking.

The main use with the Rigidbody is to trigger doors to open/close. But I can't first make it working fine and walking with the Rigidbody without stuttering.

And here is a link for the project package I exported it's only 190MB:

https://1drv.ms/u/s!AjeFgOHf0UbnaZOo17AOe5ARm4w

 

I think I found a solution, At least it's working. In the npc Animator I changed the property Animate Mode from Normal to Animate Physics.