Thank you all. You've made me realize that this walk is between the two cycles I want, that is, a walk and a run. So I'll make the walk far less powerful, with straighter limbs and more subtle movement.
@Gil: I do like it with that extra bounce.
@Cure: I did want a confident walk, I suppose, but this definitely is too drastic. As for the feet, it's actually three frames on the ground, three frames in the air, and two frames half on half off. It may be difficult to tell with because there's no clear indication of what is and isn't ground, but I think exaggerating it any more would make it... overly exaggerated. And yeah, chubby legs.
@Ben2theEdge: I think I'll make the arms far more passive, along with the legs, so that they're swinging more idly than they are chugging forward.