3DPF Project 2 Component 1 - Basic Mani Walk Cycle

I selected the cog and open the Graph Editor, and transform Y
in an up & down motion. I  selected Keys > Break Tangents>Free Tangents.
I clicked Tangents > Linear, and then flatten the curve.
I then selected the front foot on frame 1 and transform Z like the above picture.

I selected all keys and click Tangents > Linear. 

I did the same for the other foot.

Selected Transform Y and curved it like the above picture.

Did the same for the other foot.

Selected the cog again and transform X. On the pass positions, I moved the keys up or down.
I flatten the high and low tangents.

I selected the spine controllers and open the Graph Editor.
I select all the Rotate X tangents/keys and flatten them.
Select the curves and click Tangents > Flat.

I then select  the Rotate Z channels for both controllers.

.

Rotated Y for both controllers to make it look like this.

Rotated X channel of both controllers and flattened them.

Shifted all keys 4 frames to the right. Selected the whole curve. Click Curves > Pre Infinity > Cycle.
Clicked Curves > Post Infinity > Cycle.

On frame 1, 15 and 30, I keyed the head to look in front.
The final animation looks like this.

Link: http://www.youtube.com/watch?v=Dl6oJI_0PJQ