Study some gifs of people walking, or even the walk cycles in samurai jack proper! There's a lot wrong here but I think you might get more out of looking at how other people do it than I can provide. There's clips of both reference materials up on youtube, near every samurai jack ep starts with a long walking montage to boot haha
One tip, though: Remember to think in arcs! Nearly everything on the human body moves in a bit of an arc!