Reference
I found a reference from Youtube
Planning
Planning from The Animator’s Survival Kit
I drew this Planning based on my understanding. Planning was made based on the reference of the walking cycle
Processing
The key to a walking cycle is the loop from one contact pose to the next. In the contact pose, the character’s legs are almost straight, and the center of gravity is in a balanced position. In the subsequent transitions, the most critical intermediary actions are Up and Down, where the character’s center of gravity reaches its highest and lowest points, respectively. At the lowest point, the front foot is fully grounded and bearing the weight, while the back foot has just lifted off the ground, with bent knees adding a sense of weight to the character. At the highest point, the front foot pushes the body forward, and the back foot swings to its highest position, giving the movement a light and fluid feel.