Been a while since I attempted animation in the form of a walk cycle. Made some adjustments from when I started. I’m no great at rigging, but any animation tips (like posture, weight, etc) will be greatly appreciated.
Hey, not bad for an early try!
Walk cycles are really hard to get right, I know-- at this point I must’ve done at least 50 of them for a variety of characters, and I’m still finding new ways to improve things.
Have you tried offsetting the hands? Usually they should drag two frames or so behind the shoulders (that’s if you animate @ 30fps.) Also I’ve found that generally speaking, humans move slightly to the left and right, following the dominant foot while walking. Think a factor of a couple centimeters at most; the larger the figure (height-wise at least) the more sideways motion there is.
Edit: You might also want to use the Pose Breakdown tool in Pose mode to add the illusion of weight to your character. I usually go about 80%, blending between the passing pose and the contact pose. Then I offset the extension keyframe (the former contact pose) by 3 frames from the 80% breakdown keyframe.
If none of that made any sense, let me know and I’ll see if I can form a clearer explanation. 
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The pose breakdown tool sounds familiar but I haven’t used Blender enough to mess with it
Go to Pose Mode, and it should be at the very bottom of the toolbar (left side of your 3D viewport.) If the toolbar isn’t there, pressing “T” should bring it out.
Basically, the Breakdown tool allows you to blend between 2 different keyframes. If you have one keyframe on frame 1, and another on frame 10, then you can use the Breakdown tool by selecting it from the toolbar, then L.click+dragging in the viewport. You’ll see a bar appear near the top of the viewport with a percentage (0% being the key on frame 1, 100% being the key on frame 10.)