There are some problems with the walking animation that I recently noticed. For one, the right leg is completely detached from the torso while walking (arms made invisible so the legs can be seen more easily):
This also results in an awkward recovery from the animation:
The second issue is that the legs appear to have entirely different animations. Observe the behavior of the right leg and the left leg behind it:
The right leg rotates around a static point that doesn’t move, and the left point’s pivot moves around. It looks pretty weird when the animations for each leg are different like that.