I'm working on a walk cycle now to practice animation skills.  This is all done in anim8or.  The model was created and rigged by Bob_I_Ts, and can be found (with other rigs) in the "files" section of the site.  So far I have only messed with the legs and vertical motion of the character.  Next I plan to work on the torso, then the arms, then the secondary motion.

Let me know what you think!