You're getting a lot closer! You've got a nice "bounce" to the walk and what you have already done is a nice improvement.
I did a quick edit, it's not perfect but I just wanted to give you an idea of what I'm talking about.
Notes:
* the trailing leg will never go exactly horizontal while "walking".
* the arms swing fairly quickly and almost "linger" for a while at the ends of their respective arcs.
Regards.