I started with a very simple walker, on which I could try the walking animation.
With a more detailed walker I tried two different walking cycles.
Only the position of the body and the feet and the rotation of the discs are key-framed. Each leg is controlled by two bones.
Too slow. It would topple to the side as soon as it lifted its foot off the ground. It needs to keep its center of mass above the foot that’s on the ground. That means the upper body needs to shift from side to side. The problem is, the joints don’t really allow for any side to side movement.
Another thing you can do to minimize the side to side movement is to bring the feet closer together by slanting the legs inward. For example, my hip joints are about 12 inches apart, but I don’t walk with my feet 12 inches apart. My feet are only a few inches apart when I walk. My legs are angled toward the center line.
Here’s a vid I did demonstrating both of these things…
Here’s a pic showing how it leans to the side to keep its weight above the planted foot.
Steve S