Ok, I'm just going to critique your actual walkcycle.
Frame 1 is your contact pose. It looks fine, you base your whole walk off of this pose.
Frame 2 is your down pose. You have the body going up instead of down. It also looks off balance.
Frame 3 is your passing pose. I would put the body in the same vertical location as the contact pose here.
Frame 4 is your up pose. You have the body up, good job.
Frame 5 is an extra pose. You should remove this frame.
The rest of the frames are for the other side of the body.
Right now he looks as if he is skipping, is that what you are going for?
The antenna should go down on the passing pose and go up on the extra pose. What is happening is overlapping action, after the body goes down the antenna should still be going down as the body begins to rise. I suggest making the antenna go down after the down pose, and up after the up pose. This will give you a nice overlapping action. It's getting late and I'm tired or I would do an edit. I hope this helps.