A good friend of mine (April Peter) had written a serious and thorough tutorial about animating walk cycles.
She has given special attention on how she looks at it from her point of view, what should and shouldn't be done while making a walk cycle (for example - walk cycles in place is a big NO) and it's also really nice to see all the short video samples she made, showing each step to be as clear as it gets.
Read it here!
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