Looks like your back leg is swinging forward a bit too soon / you're missing a phase where the back leg rolls up onto the toe seen here https://www.backfixer1.com/wp-content/uploads/2015/02/gait-cycle.jpg You have part D - the heel off, but are missing part E - Toe Off Also feels a bit like your cycle is split up 50/50 (foot on the ground vs in the air) for walks its more 60/40 with 60% of the gait the foot is planted and 40% its in the swing phase
I would also rotate the foot up more as he heels strikes - so the toe is up higher
https://youtu.be/ZJh6poKeiEI
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seen here
https://www.backfixer1.com/wp-content/uploads/2015/02/gait-cycle.jpg
You have part D - the heel off, but are missing part E - Toe Off
Also feels a bit like your cycle is split up 50/50 (foot on the ground vs in the air) for walks its more 60/40 with 60% of the gait the foot is planted and 40% its in the swing phase
I would also rotate the foot up more as he heels strikes - so the toe is up higher