Nice progress on your walk cycle t1ck135 
I found an interesting little tutorial for a walk cycle on the web.
Tutorial: Anatomy of a Walk
I don't know if that can go for your robot. But it helps me.
Hope this will help you too.
Keep going
<< A French guy who have some problem in english but who have to live with >>
---------------
<a href="https://www.kiveun.com">My Website : https://www.kiveun.com</a>
---------------
<a href="https://forum.simplymaya.com/showthread.php?s=&postid=181609#post181609">My Challenge Jan/Fev (Unfinished)</a> - <a href="https://forum.simplymaya.com/showthread.php?s=&threadid=20643">My Challenge Mar/Apr (Unfinished)</a>
<a href="https://forum.simplymaya.com/showthread.php?s=&threadid=21564">My Challenge May/June (Finished)</a> - <a href="https://forum.simplymaya.com/showthread.php?s=&threadid=22191">My Challenge July/Aug (In Progress)</a>
---------------
<a href="https://forum.simplymaya.com/showthread.php?s=&threadid=22155">W.I.P : Little Greek Place</a>