Animated walk cycle

Here is my animated walk cycle made of 24 frames. I've based the walk cycle from Richard Williams The Animator's Survival Kit. After trying out 3 times I've managed to get this walk cycle walk properly. (This was due to the spacing of the feet between lifting and landing between steps.) I only did a few frame steps before repeating them again only to change the side of the legs and arms.

My walk cycle guide.