It works much better at this speed. The only part where it seems that some more intermediate frame could help is when he recovers his arms before standing up.
A second item that looks curious is the smoke during the "walk" cycle. There's a first puff (greyish - dust? ) when landing and a second one (blue-ish -- steam ?) when lifting. My concern is that the two puffs seem to come from the same place and behave the same, as if produced by the same cause, while the cause obviously can't be the same.

I note these frame have 170ms delay (opposed to 30ms for other part of the animation that are equally dynamic).
(Btw, it looks like you could easily opt for vector animation of that bot's arms with no loss of detail).