Walk Animation

While looking on UDO I found the walk animation task, which my group missed due to having no lecturer, so after finding the animation task I attempted to create a walk animation only animating the legs I found this ok bouncing a ball is much easier, I kept the walk cycle on one spot and did not go to into it as when I tried to animate his arms and walk around rather than staying on one spot I failed terribly arms kept twisting and flipping, one second he was moving fine then it seemed like he was going fast, i managed to alter / fix some of the problems but i decided to upload an earlier version below.

Also I didnt find tangents too useful here probably because I didnt fully understand what I was doing.