closest leg looks longer, if you pull the hip down on that side, and let his right foot land further northwest it should give him a more stable walk, its as if hes got a walking stick allowing him to not rely on that leg so much. At the minute it looks as if he'll topple over to his right, because that foot is landing to the center instead of one side.. I'd definately push it further NW.
The character would be at his highest when legs are together and dip lower when apart.
The reason for the choppiness is that his left foot raises high and steps too abruptly, yet his right doesnt seem to lift atall creating a quick glitch through the animation.
I've made an edit if you dont mind. Im sure Adarias will correct me but I do want to be an animator in the future so I should at least stick my finger once and a while and get stuck in.
![](http://img20.imageshack.us/img20/1540/wireframeqs1.gif)
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![](http://img115.imageshack.us/img115/9849/improvewalkil5.gif)
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![](http://img245.imageshack.us/img245/8794/improvewalk2np4.gif)
(iso angled shoulders and hips)
edit - lol yea im still learning too mate, learn by doing. If anything I can help him with what I do know, and continue studying in my own time.