I wanted to cycle the walk so the playblast is a little longer. I forgot how to do it in the Graph Editor (pre/post infinity -> Cycle)...I'll work on it over the next few days and repost a revised walk playblast.
Here's my walk cycle...I tried to reference the Richard Williams walk cycle. I know that the weight is a little off, but how is the leg positions? Especially the 3rd and 4th poses.